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