#include <mrpt/poses/CPointPDFSOG.h>
Classes | |
struct | TGaussianMode |
The struct for each mode:. More... | |
Public Types | |
typedef std::vector < TGaussianMode > | CListGaussianModes |
Public Member Functions | |
CPointPDFSOG (size_t nModes=1) | |
Default constructor. | |
size_t | size () const |
Returns the number of Gaussian modes in the SOG. | |
CPoint3D | getEstimatedPoint () const |
Returns an estimate of the point, (the mean, or mathematical expectation of the PDF). | |
CMatrixD | getEstimatedCovariance () const |
Returns an estimate of the pose covariance matrix (3x3 cov.matrix for x,y,z variables). | |
void | normalizeWeights () |
Normalize the weights in m_modes such as the maximum log-weight is 0. | |
double | ESS () const |
Computes the "Effective sample size" (typical measure for Particle Filters), applied to the weights of the individual Gaussian modes, as a measure of the equality of the modes (in the range [0,total # of modes]). | |
void | copyFrom (const CPointPDF &o) |
Copy operator, translating if necesary (for example, between particles and gaussian representations). | |
void | saveToTextFile (const std::string &file) const |
Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements:
| |
void | changeCoordinatesReference (const CPose3D &newReferenceBase) |
This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. | |
void | getAs3DObject (mrpt::opengl::CSetOfObjectsPtr &outObj) const |
Returns a 3D object representation of all the ellipses in the SoG. | |
void | drawSingleSample (CPoint3D &outSample) const |
Draw a sample from the pdf. | |
void | bayesianFusion (CPointPDF &p1, CPointPDF &p2, const double &minMahalanobisDistToDrop=0) |
Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!). | |
void | evaluatePDFInArea (float x_min, float x_max, float y_min, float y_max, float resolutionXY, float z, CMatrixD &outMatrix, bool sumOverAllZs=false) |
Evaluates the PDF within a rectangular grid and saves the result in a matrix (each row contains values for a fixed y-coordinate value). | |
double | evaluatePDF (const CPoint3D &x, bool sumOverAllZs) const |
Evaluates the PDF at a given point. | |
Public Attributes | |
CListGaussianModes | m_modes |
Access directly to this array for modify the modes as desired. | |
Protected Member Functions | |
void | assureSymmetry () |
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!). |
This class implements that PDF as the following multi-modal Gaussian distribution:
Where the number of modes N is the size of CPointPDFSOG::m_modes
See mrpt::poses::CPointPDF for more details.
Definition at line 57 of file CPointPDFSOG.h.
typedef std::vector<TGaussianMode> mrpt::poses::CPointPDFSOG::CListGaussianModes |
Definition at line 89 of file CPointPDFSOG.h.
mrpt::poses::CPointPDFSOG::CPointPDFSOG | ( | size_t | nModes = 1 |
) |
void mrpt::poses::CPointPDFSOG::assureSymmetry | ( | ) | [protected] |
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!).
void mrpt::poses::CPointPDFSOG::bayesianFusion | ( | CPointPDF & | p1, | |
CPointPDF & | p2, | |||
const double & | minMahalanobisDistToDrop = 0 | |||
) | [virtual] |
Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!).
p1 | The first distribution to fuse | |
p2 | The second distribution to fuse | |
minMahalanobisDistToDrop | If set to different of 0, the result of very separate Gaussian modes (that will result in negligible components) in SOGs will be dropped to reduce the number of modes in the output. |
Implements mrpt::poses::CPointPDF.
void mrpt::poses::CPointPDFSOG::changeCoordinatesReference | ( | const CPose3D & | newReferenceBase | ) | [virtual] |
This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf.
Result PDF substituted the currently stored one in the object.
Implements mrpt::poses::CPointPDF.
void mrpt::poses::CPointPDFSOG::copyFrom | ( | const CPointPDF & | o | ) | [virtual] |
Copy operator, translating if necesary (for example, between particles and gaussian representations).
Implements mrpt::poses::CPointPDF.
void mrpt::poses::CPointPDFSOG::drawSingleSample | ( | CPoint3D & | outSample | ) | const [virtual] |
double mrpt::poses::CPointPDFSOG::ESS | ( | ) | const |
Computes the "Effective sample size" (typical measure for Particle Filters), applied to the weights of the individual Gaussian modes, as a measure of the equality of the modes (in the range [0,total # of modes]).
double mrpt::poses::CPointPDFSOG::evaluatePDF | ( | const CPoint3D & | x, | |
bool | sumOverAllZs | |||
) | const |
Evaluates the PDF at a given point.
void mrpt::poses::CPointPDFSOG::evaluatePDFInArea | ( | float | x_min, | |
float | x_max, | |||
float | y_min, | |||
float | y_max, | |||
float | resolutionXY, | |||
float | z, | |||
CMatrixD & | outMatrix, | |||
bool | sumOverAllZs = false | |||
) |
Evaluates the PDF within a rectangular grid and saves the result in a matrix (each row contains values for a fixed y-coordinate value).
void mrpt::poses::CPointPDFSOG::getAs3DObject | ( | mrpt::opengl::CSetOfObjectsPtr & | outObj | ) | const |
Returns a 3D object representation of all the ellipses in the SoG.
CMatrixD mrpt::poses::CPointPDFSOG::getEstimatedCovariance | ( | ) | const [virtual] |
Returns an estimate of the pose covariance matrix (3x3 cov.matrix for x,y,z variables).
Implements mrpt::poses::CPointPDF.
CPoint3D mrpt::poses::CPointPDFSOG::getEstimatedPoint | ( | ) | const [virtual] |
Returns an estimate of the point, (the mean, or mathematical expectation of the PDF).
Implements mrpt::poses::CPointPDF.
void mrpt::poses::CPointPDFSOG::normalizeWeights | ( | ) |
Normalize the weights in m_modes such as the maximum log-weight is 0.
void mrpt::poses::CPointPDFSOG::saveToTextFile | ( | const std::string & | file | ) | const [virtual] |
Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements:
Implements mrpt::poses::CPointPDF.
size_t mrpt::poses::CPointPDFSOG::size | ( | ) | const [inline] |
Access directly to this array for modify the modes as desired.
Note that no weight can be zero!!
Definition at line 94 of file CPointPDFSOG.h.
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