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<div class="title">CPosePDFSOG.h</div> </div>
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<a href="_c_pose_p_d_f_s_o_g_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 CPosePDFSOG_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CPosePDFSOG_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_matrix_8h.html">mrpt/math/CMatrix.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_matrix_d_8h.html">mrpt/math/CMatrixD.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="keyword">namespace </span>mrpt
<a name="l00037"></a>00037 {
<a name="l00038"></a>00038 <span class="keyword">namespace </span>poses
<a name="l00039"></a>00039 {
<a name="l00040"></a>00040 <span class="keyword">using namespace </span>mrpt::math;
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00043"></a><a class="code" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_ptr.html#a5ce10d4c2cd0c50116eea950f79a8df2">00043</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_s_o_g.html" title="Declares a class that represents a Probability Density function (PDF) of a 2D pose ...">CPosePDFSOG</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="l00044"></a>00044
<a name="l00045"></a>00045 <span class="comment">/** Declares a class that represents a Probability Density function (PDF) of a 2D pose \f$ p(\mathbf{x}) = [x ~ y ~ \phi ]^t \f$.</span>
<a name="l00046"></a>00046 <span class="comment"> * This class implements that PDF as the following multi-modal Gaussian distribution:</span>
<a name="l00047"></a>00047 <span class="comment"> *</span>
<a name="l00048"></a>00048 <span class="comment"> * \f$ p(\mathbf{x}) = \sum\limits_{i=1}^N \omega^i \mathcal{N}( \mathbf{x} ; \bar{\mathbf{x}}^i, \mathbf{\Sigma}^i ) \f$</span>
<a name="l00049"></a>00049 <span class="comment"> *</span>
<a name="l00050"></a>00050 <span class="comment"> * Where the number of modes N is the size of CPosePDFSOG::m_modes</span>
<a name="l00051"></a>00051 <span class="comment"> *</span>
<a name="l00052"></a>00052 <span class="comment"> * See mrpt::poses::CPosePDF for more details.</span>
<a name="l00053"></a>00053 <span class="comment"> *</span>
<a name="l00054"></a>00054 <span class="comment"> * \sa CPose2D, CPosePDF, CPosePDFParticles</span>
<a name="l00055"></a>00055 <span class="comment"> * \ingroup poses_pdf_grp</span>
<a name="l00056"></a>00056 <span class="comment"> */</span>
<a name="l00057"></a>00057 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_s_o_g.html" title="Declares a class that represents a Probability Density function (PDF) of a 2D pose ...">CPosePDFSOG</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>
<a name="l00058"></a>00058 {
<a name="l00059"></a>00059 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00060"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a1c402ff44ec11beb104af149456a6eab">00060</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_s_o_g.html" title="Declares a class that represents a Probability Density function (PDF) of a 2D pose ...">CPosePDFSOG</a> )
<a name="l00061"></a>00061
<a name="l00062"></a>00062 public:<span class="comment"></span>
<a name="l00063"></a>00063 <span class="comment"> /** The struct for each mode:</span>
<a name="l00064"></a>00064 <span class="comment"> */</span>
<a name="l00065"></a>00065 struct <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html" title="The struct for each mode:">TGaussianMode</a>
<a name="l00066"></a>00066 {
<a name="l00067"></a><a class="code" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html#a82b77d62ff8b09b3cd12a736a9379ae8">00067</a> TGaussianMode() :
<a name="l00068"></a>00068 <a class="code" href="eigen__plugins_8h.html#a378ef7ee1218e4aa29b595c6e0f8ee4a" title="Computes the mean of the entire matrix.">mean</a>(),
<a name="l00069"></a>00069 <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 name="l00070"></a>00070 log_w(0)
<a name="l00071"></a>00071 { }
<a name="l00072"></a>00072
<a name="l00073"></a><a class="code" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html#afbc5dcd31ae6f6de59049dab33efe6b5">00073</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> <a class="code" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html#afbc5dcd31ae6f6de59049dab33efe6b5">mean</a>;
<a name="l00074"></a><a class="code" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html#a034014ce447addc97617c1d31543e364">00074</a> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble33</a> <a class="code" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html#a034014ce447addc97617c1d31543e364">cov</a>;
<a name="l00075"></a>00075 <span class="comment"></span>
<a name="l00076"></a>00076 <span class="comment"> /** The log-weight</span>
<a name="l00077"></a>00077 <span class="comment"> */</span>
<a name="l00078"></a><a class="code" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html#af8860b3ede17d4c532d7d5595b732ebb">00078</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html#af8860b3ede17d4c532d7d5595b732ebb" title="The log-weight.">log_w</a>;
<a name="l00079"></a>00079
<a name="l00080"></a>00080 <span class="keyword">public</span>:
<a name="l00081"></a>00081 <a class="code" href="_core.html">EIGEN_MAKE_ALIGNED_OPERATOR_NEW</a>
<a name="l00082"></a>00082 };
<a name="l00083"></a>00083
<a name="l00084"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a4451912a447eaaf0fec364a69059eb85">00084</a> <span class="keyword">typedef</span> mrpt<a class="code" href="classstd_1_1vector.html" title="STL class.">::aligned_containers<TGaussianMode>::vector_t</a> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a4451912a447eaaf0fec364a69059eb85">CListGaussianModes</a>;
<a name="l00085"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#aa5a75cf3820510c2db0cd2596e846396">00085</a> <span class="keyword">typedef</span> CListGaussianModes<a class="code" href="classstd_1_1vector_1_1const__iterator.html" title="STL iterator class.">::const_iterator</a> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#aa5a75cf3820510c2db0cd2596e846396">const_iterator</a>;
<a name="l00086"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a710e849d096fe29c5cc88f7a5be39a07">00086</a> <span class="keyword">typedef</span> CListGaussianModes<a class="code" href="classstd_1_1vector_1_1iterator.html" title="STL iterator class.">::iterator</a> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a710e849d096fe29c5cc88f7a5be39a07">iterator</a>;
<a name="l00087"></a>00087
<a name="l00088"></a>00088 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00089"></a>00089 <span class="comment"> /** Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)</span>
<a name="l00090"></a>00090 <span class="comment"> */</span>
<a name="l00091"></a>00091 <span class="keywordtype">void</span> assureSymmetry();
<a name="l00092"></a>00092 <span class="comment"></span>
<a name="l00093"></a>00093 <span class="comment"> /** The list of SOG modes */</span>
<a name="l00094"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#ae6a96a532ab1b9c12fa57b468cead67d">00094</a> CListGaussianModes <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#ae6a96a532ab1b9c12fa57b468cead67d" title="The list of SOG modes.">m_modes</a>;
<a name="l00095"></a>00095
<a name="l00096"></a>00096 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00097"></a>00097 <span class="comment"> /** Default constructor</span>
<a name="l00098"></a>00098 <span class="comment"> * \param nModes The initial size of CPosePDFSOG::m_modes</span>
<a name="l00099"></a>00099 <span class="comment"> */</span>
<a name="l00100"></a>00100 <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html" title="Declares a class that represents a Probability Density function (PDF) of a 2D pose ...">CPosePDFSOG</a>( <span class="keywordtype">size_t</span> nModes = 1 );
<a name="l00101"></a>00101
<a name="l00102"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a69128101c719fe54f0bb33a42e82f46f">00102</a> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a69128101c719fe54f0bb33a42e82f46f" title="Return the number of Gaussian modes.">size</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_modes.size(); } <span class="comment">//!< Return the number of Gaussian modes.</span>
<a name="l00103"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#ad675bae2f5825a0f788d61168480ad7b">00103</a> <span class="comment"></span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#ad675bae2f5825a0f788d61168480ad7b" title="Return whether there is any Gaussian mode.">empty</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_modes.empty(); } <span class="comment">//!< Return whether there is any Gaussian mode.</span>
<a name="l00104"></a>00104 <span class="comment"></span><span class="comment"></span>
<a name="l00105"></a>00105 <span class="comment"> /** Clear the list of modes */</span>
<a name="l00106"></a>00106 <span class="keywordtype">void</span> clear();
<a name="l00107"></a>00107 <span class="comment"></span>
<a name="l00108"></a>00108 <span class="comment"> /** Access to individual beacons */</span>
<a name="l00109"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#aba2e44deaf2a67c1a6f32a44a6be4af1">00109</a> <span class="keyword">const</span> <a class="code" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html" title="The struct for each mode:">TGaussianMode</a>& operator [](<span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{
<a name="l00110"></a>00110 <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(i<m_modes.size())
<a name="l00111"></a>00111 <span class="keywordflow">return</span> m_modes[i];
<a name="l00112"></a>00112 }<span class="comment"></span>
<a name="l00113"></a>00113 <span class="comment"> /** Access to individual beacons */</span>
<a name="l00114"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a75ab5830185c1f0fa8e999403d74d843">00114</a> <a class="code" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html" title="The struct for each mode:">TGaussianMode</a>& operator [](<span class="keywordtype">size_t</span> i) {
<a name="l00115"></a>00115 <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(i<m_modes.size())
<a name="l00116"></a>00116 <span class="keywordflow">return</span> m_modes[i];
<a name="l00117"></a>00117 }
<a name="l00118"></a>00118 <span class="comment"></span>
<a name="l00119"></a>00119 <span class="comment"> /** Access to individual beacons */</span>
<a name="l00120"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#ac8724e3545577a6becbd6e35cacfdbbb">00120</a> <span class="keyword">const</span> <a class="code" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html" title="The struct for each mode:">TGaussianMode</a>& <span class="keyword">get</span>(<span class="keywordtype">size_t</span> i) <span class="keyword">const</span> {
<a name="l00121"></a>00121 <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(i<m_modes.size())
<a name="l00122"></a>00122 <span class="keywordflow">return</span> m_modes[i];
<a name="l00123"></a>00123 }<span class="comment"></span>
<a name="l00124"></a>00124 <span class="comment"> /** Access to individual beacons */</span>
<a name="l00125"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a7f9d48bdf47a32e5256d5ae1072a1c33">00125</a> <a class="code" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html" title="The struct for each mode:">TGaussianMode</a>& <span class="keyword">get</span>(<span class="keywordtype">size_t</span> i) {
<a name="l00126"></a>00126 <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(i<m_modes.size())
<a name="l00127"></a>00127 <span class="keywordflow">return</span> m_modes[i];
<a name="l00128"></a>00128 }
<a name="l00129"></a>00129 <span class="comment"></span>
<a name="l00130"></a>00130 <span class="comment"> /** Inserts a copy of the given mode into the SOG */</span>
<a name="l00131"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#ad4aa3968987a7f5f487f072cd6ecdcbd">00131</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#ad4aa3968987a7f5f487f072cd6ecdcbd" title="Inserts a copy of the given mode into the SOG.">push_back</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html" title="The struct for each mode:">TGaussianMode</a>& m) {
<a name="l00132"></a>00132 m_modes.push_back(m);
<a name="l00133"></a>00133 }
<a name="l00134"></a>00134
<a name="l00135"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a0ee926714e57a27b66c9ed14cf01991e">00135</a> iterator <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a0ee926714e57a27b66c9ed14cf01991e">begin</a>() { <span class="keywordflow">return</span> m_modes.begin(); }
<a name="l00136"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a2fc732b74248fa20deab875ea91fc261">00136</a> iterator <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a2fc732b74248fa20deab875ea91fc261">end</a>() { <span class="keywordflow">return</span> m_modes.end(); }
<a name="l00137"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a49c5ca4d606792d5dc50be5fd60842af">00137</a> const_iterator <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a49c5ca4d606792d5dc50be5fd60842af">begin</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_modes.begin(); }
<a name="l00138"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#aa62ff5da8ff954abcf78e405ed204b34">00138</a> const_iterator <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#aa62ff5da8ff954abcf78e405ed204b34">end</a>()<span class="keyword">const </span>{ <span class="keywordflow">return</span> m_modes.end(); }
<a name="l00139"></a>00139
<a name="l00140"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a42d5997caa210d1f6569d117c56e12e3">00140</a> iterator <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a42d5997caa210d1f6569d117c56e12e3">erase</a>(iterator i) { <span class="keywordflow">return</span> m_modes.erase(i); }
<a name="l00141"></a>00141
<a name="l00142"></a>00142 <span class="keywordtype">void</span> resize(<span class="keyword">const</span> <span class="keywordtype">size_t</span> N); <span class="comment">//!< Resize the number of SOG modes</span>
<a name="l00143"></a>00143 <span class="comment"></span><span class="comment"></span>
<a name="l00144"></a>00144 <span class="comment"> /** Merge very close modes so the overall number of modes is reduced while preserving the total distribution.</span>
<a name="l00145"></a>00145 <span class="comment"> * This method uses the approach described in the paper:</span>
<a name="l00146"></a>00146 <span class="comment"> * - "Kullback-Leibler Approach to Gaussian Mixture Reduction" AR Runnalls. IEEE Transactions on Aerospace and Electronic Systems, 2007.</span>
<a name="l00147"></a>00147 <span class="comment"> *</span>
<a name="l00148"></a>00148 <span class="comment"> * \param max_KLd The maximum KL-divergence to consider the merge of two nodes (and then stops the process).</span>
<a name="l00149"></a>00149 <span class="comment"> */</span>
<a name="l00150"></a>00150 <span class="keywordtype">void</span> mergeModes( <span class="keywordtype">double</span> max_KLd = 0.5, <span class="keywordtype">bool</span> verbose = <span class="keyword">false</span> );
<a name="l00151"></a>00151 <span class="comment"></span>
<a name="l00152"></a>00152 <span class="comment"> /** Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).</span>
<a name="l00153"></a>00153 <span class="comment"> * \sa getCovariance</span>
<a name="l00154"></a>00154 <span class="comment"> */</span>
<a name="l00155"></a>00155 <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) <span class="keyword">const</span>;
<a name="l00156"></a>00156 <span class="comment"></span>
<a name="l00157"></a>00157 <span class="comment"> /** Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once.</span>
<a name="l00158"></a>00158 <span class="comment"> * \sa getMean</span>
<a name="l00159"></a>00159 <span class="comment"> */</span>
<a name="l00160"></a>00160 <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) <span class="keyword">const</span>;
<a name="l00161"></a>00161 <span class="comment"></span>
<a name="l00162"></a>00162 <span class="comment"> /** For the most likely Gaussian mode in the SOG, returns the pose covariance matrix (3x3 cov matrix) and the mean.</span>
<a name="l00163"></a>00163 <span class="comment"> * \sa getMean</span>
<a name="l00164"></a>00164 <span class="comment"> */</span>
<a name="l00165"></a>00165 <span class="keywordtype">void</span> getMostLikelyCovarianceAndMean(<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) <span class="keyword">const</span>;
<a name="l00166"></a>00166 <span class="comment"></span>
<a name="l00167"></a>00167 <span class="comment"> /** Normalize the weights in m_modes such as the maximum log-weight is 0.</span>
<a name="l00168"></a>00168 <span class="comment"> */</span>
<a name="l00169"></a>00169 <span class="keywordtype">void</span> normalizeWeights();
<a name="l00170"></a>00170 <span class="comment"></span>
<a name="l00171"></a>00171 <span class="comment"> /** Copy operator, translating if necesary (for example, between particles and gaussian representations)</span>
<a name="l00172"></a>00172 <span class="comment"> */</span>
<a name="l00173"></a>00173 <span class="keywordtype">void</span> copyFrom(<span class="keyword">const</span> CPosePDF &o);
<a name="l00174"></a>00174 <span class="comment"></span>
<a name="l00175"></a>00175 <span class="comment"> /** Save the density to a text file, with the following format:</span>
<a name="l00176"></a>00176 <span class="comment"> * There is one row per Gaussian "mode", and each row contains 10 elements:</span>
<a name="l00177"></a>00177 <span class="comment"> * - w (The weight)</span>
<a name="l00178"></a>00178 <span class="comment"> * - x_mean (gaussian mean value)</span>
<a name="l00179"></a>00179 <span class="comment"> * - y_mean (gaussian mean value)</span>
<a name="l00180"></a>00180 <span class="comment"> * - phi_mean (gaussian mean value)</span>
<a name="l00181"></a>00181 <span class="comment"> * - C11 (Covariance elements)</span>
<a name="l00182"></a>00182 <span class="comment"> * - C22 (Covariance elements)</span>
<a name="l00183"></a>00183 <span class="comment"> * - C33 (Covariance elements)</span>
<a name="l00184"></a>00184 <span class="comment"> * - C12 (Covariance elements)</span>
<a name="l00185"></a>00185 <span class="comment"> * - C13 (Covariance elements)</span>
<a name="l00186"></a>00186 <span class="comment"> * - C23 (Covariance elements)</span>
<a name="l00187"></a>00187 <span class="comment"> *</span>
<a name="l00188"></a>00188 <span class="comment"> */</span>
<a name="l00189"></a>00189 <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>(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &file) <span class="keyword">const</span>;
<a name="l00190"></a>00190 <span class="comment"></span>
<a name="l00191"></a>00191 <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="l00192"></a>00192 <span class="comment"> * "to project" the current pdf. Result PDF substituted the currently stored one in the object.</span>
<a name="l00193"></a>00193 <span class="comment"> */</span>
<a name="l00194"></a>00194 <span class="keywordtype">void</span> changeCoordinatesReference(<span class="keyword">const</span> <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="l00195"></a>00195 <span class="comment"></span>
<a name="l00196"></a>00196 <span class="comment"> /** Rotate all the covariance matrixes by replacing them by \f$ \mathbf{R}~\mathbf{COV}~\mathbf{R}^t \f$, where \f$ \mathbf{R} = \left[ \begin{array}{ccc} \cos\alpha & -\sin\alpha & 0 \\ \sin\alpha & \cos\alpha & 0 \\ 0 & 0 & 1 \end{array}\right] \f$.</span>
<a name="l00197"></a>00197 <span class="comment"> */</span>
<a name="l00198"></a>00198 <span class="keywordtype">void</span> rotateAllCovariances(<span class="keyword">const</span> <span class="keywordtype">double</span> &ang);
<a name="l00199"></a>00199 <span class="comment"></span>
<a name="l00200"></a>00200 <span class="comment"> /** Draws a single sample from the distribution</span>
<a name="l00201"></a>00201 <span class="comment"> */</span>
<a name="l00202"></a>00202 <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 ) <span class="keyword">const</span>;
<a name="l00203"></a>00203 <span class="comment"></span>
<a name="l00204"></a>00204 <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="l00205"></a>00205 <span class="comment"> */</span>
<a name="l00206"></a>00206 <span class="keywordtype">void</span> drawManySamples( <span class="keywordtype">size_t</span> N, <a class="code" href="classstd_1_1vector.html">std::vector<vector_double></a> & outSamples ) <span class="keyword">const</span>;
<a name="l00207"></a>00207 <span class="comment"></span>
<a name="l00208"></a>00208 <span class="comment"> /** Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF</span>
<a name="l00209"></a>00209 <span class="comment"> */</span>
<a name="l00210"></a>00210 <span class="keywordtype">void</span> inverse(CPosePDF &o) <span class="keyword">const</span>;
<a name="l00211"></a>00211 <span class="comment"></span>
<a name="l00212"></a>00212 <span class="comment"> /** Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).</span>
<a name="l00213"></a>00213 <span class="comment"> */</span>
<a name="l00214"></a>00214 <span class="keywordtype">void</span> <a class="code" href="group__container__ops__grp.html#ga28127b8dfe78fea7644c4f2a3517cdef" title="a+=b (element-wise sum)">operator += </a>( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> &Ap);
<a name="l00215"></a>00215 <span class="comment"></span>
<a name="l00216"></a>00216 <span class="comment"> /** Evaluates the PDF at a given point.</span>
<a name="l00217"></a>00217 <span class="comment"> */</span>
<a name="l00218"></a>00218 <span class="keywordtype">double</span> evaluatePDF( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> &x, <span class="keywordtype">bool</span> sumOverAllPhis = <span class="keyword">false</span> ) <span class="keyword">const</span>;
<a name="l00219"></a>00219 <span class="comment"></span>
<a name="l00220"></a>00220 <span class="comment"> /** Evaluates the ratio PDF(x) / max_PDF(x*), that is, the normalized PDF in the range [0,1].</span>
<a name="l00221"></a>00221 <span class="comment"> */</span>
<a name="l00222"></a>00222 <span class="keywordtype">double</span> evaluateNormalizedPDF( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> &x ) <span class="keyword">const</span>;
<a name="l00223"></a>00223 <span class="comment"></span>
<a name="l00224"></a>00224 <span class="comment"> /** Evaluates the PDF within a rectangular grid (and a fixed orientation) and saves the result in a matrix (each row contains values for a fixed y-coordinate value).</span>
<a name="l00225"></a>00225 <span class="comment"> */</span>
<a name="l00226"></a>00226 <span class="keywordtype">void</span> evaluatePDFInArea(
<a name="l00227"></a>00227 <span class="keyword">const</span> <span class="keywordtype">double</span> & x_min,
<a name="l00228"></a>00228 <span class="keyword">const</span> <span class="keywordtype">double</span> & x_max,
<a name="l00229"></a>00229 <span class="keyword">const</span> <span class="keywordtype">double</span> & y_min,
<a name="l00230"></a>00230 <span class="keyword">const</span> <span class="keywordtype">double</span> & y_max,
<a name="l00231"></a>00231 <span class="keyword">const</span> <span class="keywordtype">double</span> & resolutionXY,
<a name="l00232"></a>00232 <span class="keyword">const</span> <span class="keywordtype">double</span> & phi,
<a name="l00233"></a>00233 <a class="code" href="classmrpt_1_1math_1_1_c_matrix_d.html" title="This class is a "CSerializable" wrapper for "CMatrixTemplateNumeric<double>".">CMatrixD</a> &outMatrix,
<a name="l00234"></a>00234 <span class="keywordtype">bool</span> sumOverAllPhis = <span class="keyword">false</span> );
<a name="l00235"></a>00235 <span class="comment"></span>
<a name="l00236"></a>00236 <span class="comment"> /** Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPosePDFSOG object and p2 a mrpt::poses::CPosePDFGaussian object)</span>
<a name="l00237"></a>00237 <span class="comment"> */</span>
<a name="l00238"></a>00238 <span class="keywordtype">void</span> bayesianFusion(<span class="keyword">const</span> CPosePDF &p1,<span class="keyword">const</span> CPosePDF &p2, <span class="keyword">const</span> <span class="keywordtype">double</span> &minMahalanobisDistToDrop=0 );
<a name="l00239"></a>00239
<a name="l00240"></a>00240
<a name="l00241"></a>00241 }; <span class="comment">// End of class def.</span>
<a name="l00242"></a>00242
<a name="l00243"></a>00243 } <span class="comment">// End of namespace</span>
<a name="l00244"></a>00244 } <span class="comment">// End of namespace</span>
<a name="l00245"></a>00245
<a name="l00246"></a>00246 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
