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78 void resize(
const size_t N);
142 std::vector<mrpt::math::CVectorDouble>& outSamples)
const override;
const_iterator end() const
bool empty() const
Return whether there is any Gaussian mode.
Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose .
void inverse(CPose3DPDF &o) const override
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
void getMostLikelyMode(CPose3DPDFGaussian &outVal) const
Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in t...
Declares a class that represents a Probability Density function (PDF) of a 3D pose .
const Scalar * const_iterator
double log_w
The log-weight.
Aligned allocator that is compatible with C++11.
void clear()
Clear all the gaussian modes.
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.
Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually).
std::vector< TGaussianMode, mrpt::aligned_allocator_cpp11< TGaussianMode > > TModesList
void appendFrom(const CPose3DPDFSOG &o)
Append the Gaussian modes from "o" to the current set of modes of "this" density.
void assureSymmetry()
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor ...
void copyFrom(const CPose3DPDF &o) override
Copy operator, translating if necesary (for example, between particles and gaussian representations)
size_t size() const
Return the number of Gaussian modes.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
void drawSingleSample(CPose3D &outPart) const override
Draws a single sample from the distribution.
TModesList::iterator iterator
TModesList m_modes
Access directly to this array for modify the modes as desired.
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,...
TModesList::const_iterator const_iterator
void bayesianFusion(const CPose3DPDF &p1, const CPose3DPDF &p2) override
Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1...
void resize(const size_t N)
Set the number of SOG modes.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
const_iterator begin() const
void getMean(CPose3D &mean_pose) const override
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF),...
A numeric matrix of compile-time fixed size.
void changeCoordinatesReference(const CPose3D &newReferenceBase) override
this = p (+) this.
CPose3DPDFSOG(size_t nModes=1)
Default constructor.
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,...
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
GLsizei const GLchar ** string
The struct for each mode:
void normalizeWeights()
Normalize the weights in m_modes such as the maximum log-weight is 0.
bool 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",...
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