Main MRPT website > C++ reference
MRPT logo

CPose3DPDFSOG.h

Go to the documentation of this file.
00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
00005    |                                                                           |
00006    |   Copyright (C) 2005-2011  University of Malaga                           |
00007    |                                                                           |
00008    |    This software was written by the Machine Perception and Intelligent    |
00009    |      Robotics Lab, University of Malaga (Spain).                          |
00010    |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
00011    |                                                                           |
00012    |  This file is part of the MRPT project.                                   |
00013    |                                                                           |
00014    |     MRPT is free software: you can redistribute it and/or modify          |
00015    |     it under the terms of the GNU General Public License as published by  |
00016    |     the Free Software Foundation, either version 3 of the License, or     |
00017    |     (at your option) any later version.                                   |
00018    |                                                                           |
00019    |   MRPT is distributed in the hope that it will be useful,                 |
00020    |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
00021    |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
00022    |     GNU General Public License for more details.                          |
00023    |                                                                           |
00024    |     You should have received a copy of the GNU General Public License     |
00025    |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
00026    |                                                                           |
00027    +---------------------------------------------------------------------------+ */
00028 #ifndef CPose3DPDFSOG_H
00029 #define CPose3DPDFSOG_H
00030 
00031 #include <mrpt/poses/CPose3DPDF.h>
00032 #include <mrpt/poses/CPose3DPDFGaussian.h>
00033 #include <mrpt/math/CMatrix.h>
00034 
00035 namespace mrpt
00036 {
00037 namespace poses
00038 {
00039         // This must be added to any CSerializable derived class:
00040         DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CPose3DPDFSOG, CPose3DPDF )
00041 
00042         /** Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose \f$ p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t \f$.
00043          *   This class implements that PDF as the following multi-modal Gaussian distribution:
00044          *
00045          * \f$ p(\mathbf{x}) = \sum\limits_{i=1}^N \omega^i \mathcal{N}( \mathbf{x} ; \bar{\mathbf{x}}^i, \mathbf{\Sigma}^i )  \f$
00046          *
00047          *  Where the number of modes N is the size of CPose3DPDFSOG::m_modes. Angles are always in radians.
00048          *
00049          *  See mrpt::poses::CPose3DPDF for more details.
00050      *
00051          * \sa CPose3DPDF
00052          */
00053         class BASE_IMPEXP CPose3DPDFSOG : public CPose3DPDF
00054         {
00055                 // This must be added to any CSerializable derived class:
00056                 DEFINE_SERIALIZABLE( CPose3DPDFSOG )
00057 
00058         public:
00059                 /** The struct for each mode:
00060                  */
00061                 struct BASE_IMPEXP TGaussianMode
00062                 {
00063                         TGaussianMode() :
00064                                 val(),
00065                                 log_w(0)
00066                         { }
00067 
00068                         CPose3DPDFGaussian              val;
00069 
00070                         /** The log-weight
00071                           */
00072                         double          log_w;
00073                 };
00074 
00075                 typedef mrpt::aligned_containers<TGaussianMode>::vector_t  TModesList;
00076                 typedef TModesList::const_iterator const_iterator;
00077                 typedef TModesList::iterator iterator;
00078 
00079         protected:
00080                 /** Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)
00081                   */
00082                 void  assureSymmetry();
00083 
00084                 /** Access directly to this array for modify the modes as desired.
00085                   *  Note that no weight can be zero!!
00086                   *  We must use pointers to satisfy the mem-alignment of the matrixes
00087                   */
00088                 TModesList   m_modes;
00089 
00090          public:
00091                 /** Default constructor
00092                   * \param nModes The initial size of CPose3DPDFSOG::m_modes
00093                   */
00094                 CPose3DPDFSOG( size_t nModes = 1 );
00095 
00096                 void clear(); //!< Clear all the gaussian modes
00097                 void resize(const size_t N); //!< Set the number of SOG modes
00098                 size_t size() const { return m_modes.size(); } //!< Return the number of Gaussian modes.
00099                 bool empty() const { return m_modes.empty(); } //!< Return whether there is any Gaussian mode.
00100 
00101                 iterator begin() { return m_modes.begin(); }
00102                 iterator end() { return m_modes.end(); }
00103                 const_iterator begin() const { return m_modes.begin(); }
00104                 const_iterator end()const { return m_modes.end(); }
00105 
00106                  /** Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed as a weighted average over all m_particles.
00107                    * \sa getCovariance
00108                    */
00109                 void getMean(CPose3D &mean_pose) const;
00110 
00111                 /** Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once.
00112                   * \sa getMean
00113                   */
00114                 void getCovarianceAndMean(CMatrixDouble66 &cov,CPose3D &mean_point) const;
00115 
00116                 /** Normalize the weights in m_modes such as the maximum log-weight is 0.
00117                   */
00118                 void  normalizeWeights();
00119 
00120                 /** Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG) */
00121                 void getMostLikelyMode( CPose3DPDFGaussian& outVal ) const;
00122 
00123                 /** Copy operator, translating if necesary (for example, between particles and gaussian representations)
00124                   */
00125                 void  copyFrom(const CPose3DPDF &o);
00126 
00127                 /** Save the density to a text file, with the following format:
00128                   *  There is one row per Gaussian "mode", and each row contains 10 elements:
00129                   *   - w (The linear weight)
00130                   *   - x_mean (gaussian mean value)
00131                   *   - y_mean (gaussian mean value)
00132                   *   - x_mean (gaussian mean value)
00133                   *   - yaw_mean (gaussian mean value, in radians)
00134                   *   - pitch_mean (gaussian mean value, in radians)
00135                   *   - roll_mean (gaussian mean value, in radians)
00136                   *   - C11,C22,C33,C44,C55,C66 (Covariance elements)
00137                   *   - C12,C13,C14,C15,C16 (Covariance elements)
00138                   *   - C23,C24,C25,C25 (Covariance elements)
00139                   *   - C34,C35,C36 (Covariance elements)
00140                   *   - C45,C46 (Covariance elements)
00141                   *   - C56 (Covariance elements)
00142                   *
00143                  */
00144                 void  saveToTextFile(const std::string &file) const;
00145 
00146                 /** This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which
00147                   *   "to project" the current pdf. Result PDF substituted the currently stored one in the object.
00148                   */
00149                 void  changeCoordinatesReference(const CPose3D &newReferenceBase );
00150 
00151                 /** Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPose3DPDFSOG object and p2 a mrpt::poses::CPose3DPDFSOG object)
00152                   */
00153                 void  bayesianFusion( const CPose3DPDF &p1,const  CPose3DPDF &p2 );
00154 
00155                 /** Draws a single sample from the distribution
00156                   */
00157                 void  drawSingleSample( CPose3D &outPart ) const;
00158 
00159                 /** Draws a number of samples from the distribution, and saves as a list of 1x6 vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum.
00160                   */
00161                 void  drawManySamples( size_t N, std::vector<vector_double> & outSamples ) const;
00162 
00163                 /** Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF
00164                   */
00165                 void  inverse(CPose3DPDF &o) const;
00166 
00167                 /** Append the Gaussian modes from "o" to the current set of modes of "this" density.
00168                   */
00169                 void appendFrom( const CPose3DPDFSOG &o );
00170 
00171         }; // End of class def.
00172 
00173 
00174         } // End of namespace
00175 } // End of namespace
00176 
00177 #endif



Page generated by Doxygen 1.7.3 for MRPT 0.9.4 SVN:exported at Tue Jan 25 21:56:31 UTC 2011