Declares a class that represents a Probability Density function (PDF) of a 3D point .
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 36 of file CPointPDFSOG.h.
#include <mrpt/poses/CPointPDFSOG.h>
Classes | |
struct | TGaussianMode |
The struct for each mode: More... | |
Public Types | |
typedef std::deque< TGaussianMode > | CListGaussianModes |
typedef std::deque< TGaussianMode >::const_iterator | const_iterator |
typedef std::deque< TGaussianMode >::iterator | iterator |
enum | { is_3D_val = 1 } |
enum | { is_PDF_val = 1 } |
typedef CPoint3D | type_value |
The type of the state the PDF represents. More... | |
typedef CProbabilityDensityFunction< CPoint3D, STATE_LEN > | self_t |
Public Member Functions | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) noexcept |
void | operator delete[] (void *ptr) noexcept |
void | operator delete (void *memory, void *ptr) noexcept |
void * | operator new (size_t size, const std::nothrow_t &) noexcept |
void | operator delete (void *ptr, const std::nothrow_t &) noexcept |
CPointPDFSOG (size_t nModes=1) | |
Default constructor. More... | |
void | clear () |
Clear all the gaussian modes. More... | |
const TGaussianMode & | operator[] (size_t i) const |
Access to individual beacons. More... | |
TGaussianMode & | operator[] (size_t i) |
Access to individual beacons. More... | |
const TGaussianMode & | get (size_t i) const |
Access to individual beacons. More... | |
TGaussianMode & | get (size_t i) |
Access to individual beacons. More... | |
void | push_back (const TGaussianMode &m) |
Inserts a copy of the given mode into the SOG. More... | |
iterator | begin () |
iterator | end () |
const_iterator | begin () const |
const_iterator | end () const |
iterator | erase (iterator i) |
void | resize (const size_t N) |
Resize the number of SOG modes. More... | |
size_t | size () const |
Return the number of Gaussian modes. More... | |
bool | empty () const |
Return whether there is any Gaussian mode. More... | |
void | getMean (CPoint3D &mean_point) const override |
Returns an estimate of the point, (the mean, or mathematical expectation of the PDF) More... | |
void | getCovarianceAndMean (mrpt::math::CMatrixDouble33 &cov, CPoint3D &mean_point) const override |
Returns an estimate of the point covariance matrix (3x3 cov matrix) and the mean, both at once. More... | |
void | normalizeWeights () |
Normalize the weights in m_modes such as the maximum log-weight is 0. More... | |
void | getMostLikelyMode (CPointPDFGaussian &outVal) const |
Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG) More... | |
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]). More... | |
void | copyFrom (const CPointPDF &o) override |
Copy operator, translating if necesary (for example, between particles and gaussian representations) More... | |
void | saveToTextFile (const std::string &file) const override |
Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements: More... | |
void | changeCoordinatesReference (const CPose3D &newReferenceBase) override |
this = p (+) this. More... | |
void | drawSingleSample (CPoint3D &outSample) const override |
Draw a sample from the pdf. More... | |
void | bayesianFusion (const CPointPDF &p1, const CPointPDF &p2, const double &minMahalanobisDistToDrop=0) override |
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!) More... | |
void | evaluatePDFInArea (float x_min, float x_max, float y_min, float y_max, float resolutionXY, float z, mrpt::math::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). More... | |
double | evaluatePDF (const CPoint3D &x, bool sumOverAllZs) const |
Evaluates the PDF at a given point. More... | |
template<class OPENGL_SETOFOBJECTSPTR > | |
void | getAs3DObject (OPENGL_SETOFOBJECTSPTR &out_obj) const |
Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list) More... | |
template<class OPENGL_SETOFOBJECTSPTR , class OPENGL_SETOFOBJECTS > | |
OPENGL_SETOFOBJECTSPTR | getAs3DObject () const |
Returns a 3D representation of this PDF. More... | |
virtual mxArray * | writeToMatlab () const |
Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More... | |
virtual void | getMean (CPoint3D &mean_point) const=0 |
Returns the mean, or mathematical expectation of the probability density distribution (PDF). More... | |
virtual void | getCovarianceAndMean (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, CPoint3D &mean_point) const=0 |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More... | |
void | getCovarianceDynAndMean (mrpt::math::CMatrixDouble &cov, CPoint3D &mean_point) const |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More... | |
CPoint3D | getMeanVal () const |
Returns the mean, or mathematical expectation of the probability density distribution (PDF). More... | |
void | getCovariance (mrpt::math::CMatrixDouble &cov) const |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More... | |
void | getCovariance (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More... | |
mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > | getCovariance () const |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More... | |
virtual bool | isInfType () const |
Returns whether the class instance holds the uncertainty in covariance or information form. More... | |
virtual void | getInformationMatrix (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &inf) const |
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it. More... | |
virtual void | drawSingleSample (CPoint3D &outPart) const=0 |
Draws a single sample from the distribution. More... | |
virtual void | drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const |
Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. More... | |
double | getCovarianceEntropy () const |
Compute the entropy of the estimated covariance matrix. More... | |
RTTI classes and functions | |
mrpt::utils::CObject::Ptr | duplicateGetSmartPtr () const |
Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More... | |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
static bool | is_3D () |
static bool | is_PDF () |
Static Public Attributes | |
static const size_t | state_length |
The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). More... | |
Protected Member Functions | |
void | assureSymmetry () |
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!) More... | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const override |
Introduces a pure virtual method responsible for writing to a CStream. More... | |
void | readFromStream (mrpt::utils::CStream &in, int version) override |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More... | |
Protected Attributes | |
CListGaussianModes | m_modes |
The list of SOG modes. More... | |
RTTI stuff | |
using | Ptr = std::shared_ptr< CPointPDFSOG > |
using | ConstPtr = std::shared_ptr< const CPointPDFSOG > |
static mrpt::utils::CLASSINIT | _init_CPointPDFSOG |
static const mrpt::utils::TRuntimeClassId | runtimeClassId |
static constexpr const char * | className = "CPointPDFSOG" |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
static const mrpt::utils::TRuntimeClassId & | GetRuntimeClassIdStatic () |
static mrpt::utils::CObject * | CreateObject () |
template<typename... Args> | |
static Ptr | Create (Args &&... args) |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const override |
Returns information about the class of an object in runtime. More... | |
virtual mrpt::utils::CObject * | clone () const override |
Returns a deep copy (clone) of the object, indepently of its class. More... | |
typedef std::deque<TGaussianMode> mrpt::poses::CPointPDFSOG::CListGaussianModes |
Definition at line 53 of file CPointPDFSOG.h.
typedef std::deque<TGaussianMode>::const_iterator mrpt::poses::CPointPDFSOG::const_iterator |
Definition at line 54 of file CPointPDFSOG.h.
using mrpt::poses::CPointPDFSOG::ConstPtr = std::shared_ptr<const CPointPDFSOG > |
Definition at line 38 of file CPointPDFSOG.h.
typedef std::deque<TGaussianMode>::iterator mrpt::poses::CPointPDFSOG::iterator |
Definition at line 55 of file CPointPDFSOG.h.
using mrpt::poses::CPointPDFSOG::Ptr = std::shared_ptr< CPointPDFSOG > |
A typedef for the associated smart pointer
Definition at line 38 of file CPointPDFSOG.h.
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inherited |
Definition at line 37 of file CProbabilityDensityFunction.h.
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inherited |
The type of the state the PDF represents.
Definition at line 36 of file CProbabilityDensityFunction.h.
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inherited |
Enumerator | |
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is_3D_val |
Definition at line 64 of file CPointPDF.h.
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Enumerator | |
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is_PDF_val |
Definition at line 69 of file CPointPDF.h.
CPointPDFSOG::CPointPDFSOG | ( | size_t | nModes = 1 | ) |
Default constructor.
nModes | The initial size of CPointPDFSOG::m_modes |
Definition at line 34 of file CPointPDFSOG.cpp.
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staticprotected |
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protected |
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)
Definition at line 437 of file CPointPDFSOG.cpp.
References MRPT_END, and MRPT_START.
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overridevirtual |
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.
Definition at line 287 of file CPointPDFSOG.cpp.
References ASSERT_, mrpt::poses::CPointPDFGaussian::bayesianFusion(), CLASS_ID, mrpt::poses::CPointPDFGaussian::cov, mrpt::poses::CPointPDF::GetRuntimeClass(), mrpt::poses::CPointPDFSOG::TGaussianMode::log_w, M_2PI, m_modes, mrpt::poses::CPointPDFGaussian::mean, MRPT_END, MRPT_START, mrpt::math::square(), mrpt::math::UNINITIALIZED_MATRIX, mrpt::poses::CPointPDFSOG::TGaussianMode::val, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >().
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inline |
Definition at line 103 of file CPointPDFSOG.h.
References m_modes.
Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >(), mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), and mrpt::maps::CBeaconMap::internal_insertObservation().
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inline |
Definition at line 105 of file CPointPDFSOG.h.
References m_modes.
this = p (+) this.
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::utils::CProbabilityDensityFunction< CPoint3D, 3 >.
Definition at line 236 of file CPointPDFSOG.cpp.
void CPointPDFSOG::clear | ( | ) |
Clear all the gaussian modes.
Definition at line 38 of file CPointPDFSOG.cpp.
Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >(), and mrpt::maps::CBeacon::generateObservationModelDistribution().
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overridevirtual |
Returns a deep copy (clone) of the object, indepently of its class.
Implements mrpt::utils::CObject.
Copy operator, translating if necesary (for example, between particles and gaussian representations)
Implements mrpt::poses::CPointPDF.
Definition at line 194 of file CPointPDFSOG.cpp.
References CLASS_ID, mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), mrpt::poses::CPointPDF::GetRuntimeClass(), MRPT_END, MRPT_START, and val.
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inlinestatic |
Definition at line 38 of file CPointPDFSOG.h.
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static |
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inlinevirtualinherited |
Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum.
This base method just call N times to drawSingleSample, but derived classes should implemented optimized method for each particular PDF.
Definition at line 154 of file CProbabilityDensityFunction.h.
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pure virtualinherited |
Draws a single sample from the distribution.
Draw a sample from the pdf.
Definition at line 246 of file CPointPDFSOG.cpp.
References ASSERT_, mrpt::random::CRandomGenerator::drawGaussianMultivariate(), mrpt::random::getRandomGenerator(), MRPT_END, MRPT_START, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >().
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inline |
Return whether there is any Gaussian mode.
Definition at line 113 of file CPointPDFSOG.h.
References m_modes.
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inline |
Definition at line 104 of file CPointPDFSOG.h.
References m_modes.
Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >(), mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), and mrpt::maps::CBeaconMap::internal_insertObservation().
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inline |
Definition at line 106 of file CPointPDFSOG.h.
References m_modes.
Definition at line 107 of file CPointPDFSOG.h.
References m_modes.
Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >(), and mrpt::maps::CBeaconMap::internal_insertObservation().
double 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]).
Definition at line 475 of file CPointPDFSOG.cpp.
References MRPT_END, MRPT_START, and mrpt::math::square().
Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >().
double CPointPDFSOG::evaluatePDF | ( | const CPoint3D & | x, |
bool | sumOverAllZs | ||
) | const |
Evaluates the PDF at a given point.
Definition at line 530 of file CPointPDFSOG.cpp.
References mrpt::math::normalPDF().
void CPointPDFSOG::evaluatePDFInArea | ( | float | x_min, |
float | x_max, | ||
float | y_min, | ||
float | y_max, | ||
float | resolutionXY, | ||
float | z, | ||
mrpt::math::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).
Definition at line 500 of file CPointPDFSOG.cpp.
References ASSERT_, MRPT_END, and MRPT_START.
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inline |
Access to individual beacons.
Definition at line 89 of file CPointPDFSOG.h.
References ASSERT_, and m_modes.
Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >(), mrpt::maps::CBeacon::generateObservationModelDistribution(), and mrpt::maps::CBeacon::generateRingSOG().
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inline |
Access to individual beacons.
Definition at line 95 of file CPointPDFSOG.h.
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inlineinherited |
Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list)
Definition at line 83 of file CPointPDF.h.
References mrpt::opengl::posePDF2opengl().
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inlineinherited |
Returns a 3D representation of this PDF.
Definition at line 94 of file CPointPDF.h.
References mrpt::opengl::posePDF2opengl().
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 81 of file CProbabilityDensityFunction.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 91 of file CProbabilityDensityFunction.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 104 of file CProbabilityDensityFunction.h.
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pure virtualinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
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override |
Returns an estimate of the point covariance matrix (3x3 cov matrix) and the mean, both at once.
Definition at line 82 of file CPointPDFSOG.cpp.
Referenced by mrpt::maps::CBeaconMap::internal_insertObservation().
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inlineinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
Definition at line 57 of file CProbabilityDensityFunction.h.
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inlineinherited |
Compute the entropy of the estimated covariance matrix.
Definition at line 178 of file CProbabilityDensityFunction.h.
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inlinevirtualinherited |
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it.
Definition at line 127 of file CProbabilityDensityFunction.h.
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pure virtualinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Returns an estimate of the point, (the mean, or mathematical expectation of the PDF)
Definition at line 48 of file CPointPDFSOG.cpp.
Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >().
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inlineinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Definition at line 70 of file CProbabilityDensityFunction.h.
void CPointPDFSOG::getMostLikelyMode | ( | CPointPDFGaussian & | outVal | ) | const |
Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG)
Definition at line 578 of file CPointPDFSOG.cpp.
References empty().
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overridevirtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::poses::CPointPDF.
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static |
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inlinestaticinherited |
Definition at line 68 of file CPointPDF.h.
References mrpt::poses::CPointPDF::is_3D_val.
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inlinestaticinherited |
Definition at line 73 of file CPointPDF.h.
References mrpt::poses::CPointPDF::is_PDF_val.
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inlinevirtualinherited |
Returns whether the class instance holds the uncertainty in covariance or information form.
Definition at line 120 of file CProbabilityDensityFunction.h.
void CPointPDFSOG::normalizeWeights | ( | ) |
Normalize the weights in m_modes such as the maximum log-weight is 0.
Definition at line 456 of file CPointPDFSOG.cpp.
References MRPT_END, and MRPT_START.
Referenced by mrpt::maps::CBeaconMap::internal_insertObservation().
Definition at line 38 of file CPointPDFSOG.h.
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inlinenoexcept |
Definition at line 38 of file CPointPDFSOG.h.
Definition at line 38 of file CPointPDFSOG.h.
Definition at line 38 of file CPointPDFSOG.h.
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inline |
Definition at line 38 of file CPointPDFSOG.h.
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inlinenoexcept |
Definition at line 38 of file CPointPDFSOG.h.
Definition at line 38 of file CPointPDFSOG.h.
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inline |
Definition at line 38 of file CPointPDFSOG.h.
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inline |
Access to individual beacons.
Definition at line 76 of file CPointPDFSOG.h.
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inline |
Access to individual beacons.
Definition at line 82 of file CPointPDFSOG.h.
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inline |
Inserts a copy of the given mode into the SOG.
Definition at line 102 of file CPointPDFSOG.h.
References m_modes.
Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >(), and mrpt::maps::CBeacon::generateObservationModelDistribution().
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overrideprotectedvirtual |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
in | The input binary stream where the object data must read from. |
version | The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. |
std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
Definition at line 146 of file CPointPDFSOG.cpp.
References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.
void CPointPDFSOG::resize | ( | const size_t | N | ) |
Resize the number of SOG modes.
Definition at line 42 of file CPointPDFSOG.cpp.
Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >(), and mrpt::maps::CBeacon::generateRingSOG().
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overridevirtual |
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::utils::CProbabilityDensityFunction< CPoint3D, 3 >.
Definition at line 218 of file CPointPDFSOG.cpp.
References mrpt::system::os::fclose(), mrpt::system::os::fopen(), and mrpt::system::os::fprintf().
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inline |
Return the number of Gaussian modes.
Definition at line 111 of file CPointPDFSOG.h.
References m_modes.
Referenced by mrpt::maps::CMultiMetricMapPDF::prediction_and_update< mrpt::slam::OptimalProposal >(), mrpt::maps::CBeacon::generateObservationModelDistribution(), mrpt::maps::CBeacon::generateRingSOG(), and mrpt::maps::CBeaconMap::internal_computeObservationLikelihood().
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inlinevirtualinherited |
Introduces a pure virtual method responsible for writing to a mxArray
Matlab object, typically a MATLAB struct
whose contents are documented in each derived class.
mxArray
(caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB. Definition at line 89 of file CSerializable.h.
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overrideprotectedvirtual |
Introduces a pure virtual method responsible for writing to a CStream.
This can not be used directly be users, instead use "stream << object;" for writing it to a stream.
out | The output binary stream where object must be dumped. |
getVersion | If nullptr, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
Definition at line 122 of file CPointPDFSOG.cpp.
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Definition at line 38 of file CPointPDFSOG.h.
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static |
Definition at line 38 of file CPointPDFSOG.h.
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protected |
The list of SOG modes.
Definition at line 64 of file CPointPDFSOG.h.
Referenced by bayesianFusion(), begin(), empty(), end(), erase(), get(), operator[](), push_back(), and size().
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staticprotected |
Definition at line 38 of file CPointPDFSOG.h.
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staticinherited |
The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll).
Definition at line 34 of file CProbabilityDensityFunction.h.
Referenced by mrpt::poses::CPointPDFGaussian::productIntegralWith(), and mrpt::poses::CPointPDFGaussian::productIntegralWith2D().
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