Go to the documentation of this file.
9 #ifndef CPose3DPDFGaussianInf_H
10 #define CPose3DPDFGaussianInf_H
21 class CPosePDFGaussian;
22 class CPose3DQuatPDFGaussian;
98 mean_point = this->
mean;
139 std::vector<mrpt::math::CVectorDouble>& outSamples)
const override;
192 const CPose3DPDFGaussianInf& p1,
const CPose3DPDFGaussianInf& p2);
196 const CPose3DPDFGaussianInf&
x,
const CPose3DPDFGaussianInf& u);
200 const CPose3DPDFGaussianInf&
x,
const CPose3DPDFGaussianInf& u);
202 std::ostream&
operator<<(std::ostream& out,
const CPose3DPDFGaussianInf&
obj);
double evaluatePDF(const CPose3D &x) const
Evaluates the PDF at a given point.
void inverse(CPose3DPDF &o) const override
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
mrpt::math::CMatrixDouble66 cov_inv
The inverse of the 6x6 covariance matrix.
bool saveToTextFile(const std::string &file) const override
Save the PDF to a text file, containing the 3D pose in the first line, then the covariance matrix in ...
Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually).
mrpt::math::TPoint2D operator+(const CPose2D &pose, const mrpt::math::TPoint2D &pnt)
Compose a 2D point from a new coordinate base given by a 2D pose.
GLsizei GLsizei GLuint * obj
void operator-=(const CPose3DPDFGaussianInf &Ap)
Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean,...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
CPose2D operator-(const CPose2D &p)
Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x...
Eigen::Matrix< typename MATRIX::Scalar, MATRIX::ColsAtCompileTime, MATRIX::ColsAtCompileTime > cov(const MATRIX &v)
Computes the covariance matrix from a list of samples in an NxM matrix, where each row is a sample,...
void drawSingleSample(CPose3D &outPart) const override
Draws a single sample from the distribution.
void operator+=(const CPose3D &Ap)
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matri...
CPose3D mean
The mean value.
void getCovarianceAndMean(mrpt::math::CMatrixDouble66 &cov, CPose3D &mean_point) const override
Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once.
void copyFrom(const CPose3DPDF &o) override
Copy operator, translating if necesary (for example, between particles and gaussian representations)
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Declares a class that represents a Probability Density function (PDF) of a 3D pose as a Gaussian des...
double evaluateNormalizedPDF(const CPose3D &x) const
Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,...
virtual void getInformationMatrix(mrpt::math::CMatrixDouble66 &inf) const override
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix)
A numeric matrix of compile-time fixed size.
CMatrixFixedNumeric< double, 6, 6 > CMatrixDouble66
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
void getMean(CPose3D &mean_pose) const override
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
bool operator==(const CPoint< DERIVEDCLASS > &p1, const CPoint< DERIVEDCLASS > &p2)
CPose3DPDFGaussianInf()
Default constructor - mean: all zeros, inverse covariance=all zeros -> so be careful!
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
CPose3DPDFGaussianInf operator-() const
Unary - operator, returns the PDF of the inverse pose.
double mahalanobisDistanceTo(const CPose3DPDFGaussianInf &theOther)
Computes the Mahalanobis distance between the centers of two Gaussians.
Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion...
GLsizei const GLchar ** string
std::ostream & operator<<(std::ostream &o, const CPoint< DERIVEDCLASS > &p)
Dumps a point as a string [x,y] or [x,y,z]
bool isInfType() const override
const CPose3D & getPoseMean() const
void changeCoordinatesReference(const CPose3D &newReferenceBase) override
this = p (+) this.
void bayesianFusion(const CPose3DPDF &p1, const CPose3DPDF &p2) override
Bayesian fusion of two points gauss.
void getInvCovSubmatrix2D(mrpt::math::CMatrixDouble &out_cov) const
Returns a 3x3 matrix with submatrix of the inverse covariance for the variables (x,...
void assureSymmetry()
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor ...
void drawManySamples(size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const override
Draws a number of samples from the distribution, and saves as a list of 1x6 vectors,...
Page generated by Doxygen 1.8.17 for MRPT 1.9.9 Git: ad3a9d8ae Tue May 1 23:10:22 2018 -0700 at miƩ 12 jul 2023 10:03:34 CEST | |