9 #ifndef CPoint2DPDFGaussian_H 10 #define CPoint2DPDFGaussian_H 51 mean_point = this->
mean;
121 const double& minMahalanobisDistToDrop = 0)
override;
double productIntegralNormalizedWith(const CPoint2DPDFGaussian &p) const
Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the int...
CPoint2D mean
The mean value.
double productIntegralWith(const CPoint2DPDFGaussian &p) const
Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the int...
A gaussian distribution for 2D points.
void copyFrom(const CPoint2DPDF &o) override
Copy operator, translating if necesary (for example, between particles and gaussian representations) ...
void changeCoordinatesReference(const CPose3D &newReferenceBase) override
this = p (+) this.
void drawSingleSample(CPoint2D &outSample) const override
Draw a sample from the pdf.
A numeric matrix of compile-time fixed size.
CPoint2DPDFGaussian()
Default constructor.
void bayesianFusion(const CPoint2DPDFGaussian &p1, const CPoint2DPDFGaussian &p2)
Bayesian fusion of two points gauss.
Declares a class that represents a Probability Distribution function (PDF) of a 2D point (x...
double mahalanobisDistanceToPoint(const double x, const double y) const
Returns the Mahalanobis distance from this PDF to some point.
GLsizei const GLchar ** string
A class used to store a 2D point.
void getMean(CPoint2D &p) const override
Returns an estimate of the point, (the mean, or mathematical expectation of the PDF) ...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
void getCovarianceAndMean(mrpt::math::CMatrixDouble22 &out_cov, CPoint2D &mean_point) const override
Returns an estimate of the point covariance matrix (2x2 cov matrix) and the mean, both at once...
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
void saveToTextFile(const std::string &file) const override
Save PDF's particles to a text file, containing the 2D pose in the first line, then the covariance ma...
mrpt::math::CMatrixDouble22 cov
The 2x2 covariance matrix.
double mahalanobisDistanceTo(const CPoint2DPDFGaussian &other) const
Returns the Mahalanobis distance from this PDF to another PDF, that is, it's evaluation at (0...