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<div class="title">CPosePDFGrid.h</div> </div>
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<a href="_c_pose_p_d_f_grid_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CPosePDFGrid_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CPosePDFGrid_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_pose_p_d_f_8h.html">mrpt/poses/CPosePDF.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_pose2_d_grid_template_8h.html">mrpt/poses/CPose2DGridTemplate.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="keyword">namespace </span>mrpt
<a name="l00035"></a>00035 {
<a name="l00036"></a>00036 <span class="keyword">namespace </span>poses
<a name="l00037"></a>00037 {
<a name="l00038"></a>00038 <span class="keyword">using namespace </span>mrpt::utils;
<a name="l00039"></a>00039
<a name="l00040"></a>00040 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00041"></a><a class="code" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_grid_ptr.html#a49a4d17fe8e0551a3165f8759e9c0f3e">00041</a> <a class="code" href="_c_serializable_8h.html#ab89b7a3de0a1baf5a5af4454add7d0f8" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE</a>( <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid.html" title="Declares a class that represents a Probability Distribution function (PDF) of a 2D pose (x...">CPosePDFGrid</a>, <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html" title="Declares a class that represents a probability density function (pdf) of a 2D pose (x...">CPosePDF</a> )
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="comment">/** Declares a class that represents a Probability Distribution</span>
<a name="l00044"></a>00044 <span class="comment"> * function (PDF) of a 2D pose (x,y,phi).</span>
<a name="l00045"></a>00045 <span class="comment"> * This class implements that PDF using a 3D grid.</span>
<a name="l00046"></a>00046 <span class="comment"> *</span>
<a name="l00047"></a>00047 <span class="comment"> * \sa CPose2D, CPosePDF, CPose2DGridTemplate</span>
<a name="l00048"></a>00048 <span class="comment"> * \ingroup poses_pdf_grp</span>
<a name="l00049"></a>00049 <span class="comment"> */</span>
<a name="l00050"></a>00050 class <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid.html" title="Declares a class that represents a Probability Distribution function (PDF) of a 2D pose (x...">CPosePDFGrid</a> : public <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html" title="Declares a class that represents a probability density function (pdf) of a 2D pose (x...">CPosePDF</a>, public <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html" title="This is a template class for storing a 3D (2D+heading) grid containing any kind of data...">CPose2DGridTemplate</a><<span class="keywordtype">double</span>>
<a name="l00051"></a>00051 {
<a name="l00052"></a>00052 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00053"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid.html#ab21686bfd27965053e04d1ab95653c95">00053</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid.html" title="Declares a class that represents a Probability Distribution function (PDF) of a 2D pose (x...">CPosePDFGrid</a> )
<a name="l00054"></a>00054
<a name="l00055"></a>00055 protected:
<a name="l00056"></a>00056
<a name="l00057"></a>00057
<a name="l00058"></a>00058 public:<span class="comment"></span>
<a name="l00059"></a>00059 <span class="comment"> /** Constructor: Initializes a, uniform distribution over the whole given range.</span>
<a name="l00060"></a>00060 <span class="comment"> */</span>
<a name="l00061"></a>00061 <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid.html" title="Declares a class that represents a Probability Distribution function (PDF) of a 2D pose (x...">CPosePDFGrid</a>(
<a name="l00062"></a>00062 <span class="keywordtype">double</span> xMin = -1.0f,
<a name="l00063"></a>00063 <span class="keywordtype">double</span> xMax = 1.0f,
<a name="l00064"></a>00064 <span class="keywordtype">double</span> yMin = -1.0f,
<a name="l00065"></a>00065 <span class="keywordtype">double</span> yMax = 1.0f,
<a name="l00066"></a>00066 <span class="keywordtype">double</span> resolutionXY = 0.5f,
<a name="l00067"></a>00067 <span class="keywordtype">double</span> resolutionPhi = <a class="code" href="namespacemrpt_1_1utils.html#a186dc19748953878f7be5e9b0c345dfd" title="Degrees to radians.">DEG2RAD</a>(180),
<a name="l00068"></a>00068 <span class="keywordtype">double</span> phiMin = -<a class="code" href="mrpt__macros_8h.html#acbb42dc053fedc161079f0a4d20a64e8">M_PIf</a>,
<a name="l00069"></a>00069 <span class="keywordtype">double</span> phiMax = M_PIf
<a name="l00070"></a>00070 );
<a name="l00071"></a>00071 <span class="comment"></span>
<a name="l00072"></a>00072 <span class="comment"> /** Destructor</span>
<a name="l00073"></a>00073 <span class="comment"> */</span>
<a name="l00074"></a>00074 virtual ~<a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid.html" title="Declares a class that represents a Probability Distribution function (PDF) of a 2D pose (x...">CPosePDFGrid</a>();
<a name="l00075"></a>00075 <span class="comment"></span>
<a name="l00076"></a>00076 <span class="comment"> /** Copy operator, translating if necesary (for example, between particles and gaussian representations)</span>
<a name="l00077"></a>00077 <span class="comment"> */</span>
<a name="l00078"></a>00078 <span class="keywordtype">void</span> copyFrom(const CPosePDF &o);
<a name="l00079"></a>00079 <span class="comment"></span>
<a name="l00080"></a>00080 <span class="comment"> /** Normalizes the PDF, such as all cells sum the unity.</span>
<a name="l00081"></a>00081 <span class="comment"> */</span>
<a name="l00082"></a>00082 <span class="keywordtype">void</span> <a class="code" href="eigen__plugins_8h.html#a9fa151d57c4246db2c3aed3642dd249b" title="Scales all elements such as the minimum & maximum values are shifted to the given values...">normalize</a>();
<a name="l00083"></a>00083 <span class="comment"></span>
<a name="l00084"></a>00084 <span class="comment"> /** Assigns the same value to all the cells in the grid, so the sum 1.</span>
<a name="l00085"></a>00085 <span class="comment"> */</span>
<a name="l00086"></a>00086 <span class="keywordtype">void</span> uniformDistribution();
<a name="l00087"></a>00087 <span class="comment"></span>
<a name="l00088"></a>00088 <span class="comment"> /** Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).</span>
<a name="l00089"></a>00089 <span class="comment"> * \sa getCovariance</span>
<a name="l00090"></a>00090 <span class="comment"> */</span>
<a name="l00091"></a>00091 <span class="keywordtype">void</span> getMean(<a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> &mean_pose) const;
<a name="l00092"></a>00092 <span class="comment"></span>
<a name="l00093"></a>00093 <span class="comment"> /** Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once.</span>
<a name="l00094"></a>00094 <span class="comment"> * \sa getMean</span>
<a name="l00095"></a>00095 <span class="comment"> */</span>
<a name="l00096"></a>00096 <span class="keywordtype">void</span> getCovarianceAndMean(<a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble33</a> &<a class="code" href="namespacemrpt_1_1math.html#a43f4e051fc574fd75b6800ad4fb25037" title="Computes the covariance matrix from a list of samples in an NxM matrix, where each row is a sample...">cov</a>,<a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> &mean_point) const;
<a name="l00097"></a>00097 <span class="comment"></span>
<a name="l00098"></a>00098 <span class="comment"> /** Save the contents of the 3D grid in one file, as a vertical concatenation of rectangular matrix for the different "PHI" discrete levels, and the size in X,Y,and PHI in another file named "<filename>_dims.txt"</span>
<a name="l00099"></a>00099 <span class="comment"> */</span>
<a name="l00100"></a>00100 <span class="keywordtype">void</span> <a class="code" href="eigen__plugins_8h.html#abea6659e38ab7a50b625ea1a4af3ec72" title="Save matrix to a text file, compatible with MATLAB text format (see also the methods of matrix classe...">saveToTextFile</a>(const std::<span class="keywordtype">string</span> &dataFile) const;
<a name="l00101"></a>00101 <span class="comment"></span>
<a name="l00102"></a>00102 <span class="comment"> /** This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which</span>
<a name="l00103"></a>00103 <span class="comment"> * "to project" the current pdf. Result PDF substituted the currently stored one in the object.</span>
<a name="l00104"></a>00104 <span class="comment"> */</span>
<a name="l00105"></a>00105 <span class="keywordtype">void</span> changeCoordinatesReference( const <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &newReferenceBase );
<a name="l00106"></a>00106 <span class="comment"></span>
<a name="l00107"></a>00107 <span class="comment"> /** Bayesian fusion of 2 densities (In the grid representation this becomes a pointwise multiplication)</span>
<a name="l00108"></a>00108 <span class="comment"> */</span>
<a name="l00109"></a>00109 <span class="keywordtype">void</span> bayesianFusion(const CPosePDF &p1,const CPosePDF &p2, const <span class="keywordtype">double</span> &minMahalanobisDistToDrop = 0 );
<a name="l00110"></a>00110 <span class="comment"></span>
<a name="l00111"></a>00111 <span class="comment"> /** Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF</span>
<a name="l00112"></a>00112 <span class="comment"> */</span>
<a name="l00113"></a>00113 <span class="keywordtype">void</span> inverse(CPosePDF &o) const;
<a name="l00114"></a>00114 <span class="comment"></span>
<a name="l00115"></a>00115 <span class="comment"> /** Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!)</span>
<a name="l00116"></a>00116 <span class="comment"> */</span>
<a name="l00117"></a>00117 <span class="keywordtype">void</span> drawSingleSample( <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> &outPart ) const;
<a name="l00118"></a>00118 <span class="comment"></span>
<a name="l00119"></a>00119 <span class="comment"> /** Draws a number of samples from the distribution, and saves as a list of 1x3 vectors, where each row contains a (x,y,phi) datum.</span>
<a name="l00120"></a>00120 <span class="comment"> */</span>
<a name="l00121"></a>00121 <span class="keywordtype">void</span> drawManySamples( <span class="keywordtype">size_t</span> N, std::<a class="code" href="classstd_1_1vector.html" title="STL class.">vector</a><<a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a>> & outSamples ) const;
<a name="l00122"></a>00122
<a name="l00123"></a>00123 }; <span class="comment">// End of class def.</span>
<a name="l00124"></a>00124
<a name="l00125"></a>00125
<a name="l00126"></a>00126 } <span class="comment">// End of namespace</span>
<a name="l00127"></a>00127 } <span class="comment">// End of namespace</span>
<a name="l00128"></a>00128
<a name="l00129"></a>00129 <span class="preprocessor">#endif</span>
</pre></div></div>
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