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9 #ifndef CPose3DQuatPDFGaussian_H
10 #define CPose3DQuatPDFGaussian_H
21 class CPosePDFGaussian;
22 class CPose3DPDFGaussian;
126 std::vector<mrpt::math::CVectorDouble>& outSamples)
const override;
166 const CPose3DQuatPDFGaussian& p1,
const CPose3DQuatPDFGaussian& p2);
170 const CPose3DQuatPDFGaussian&
x,
const CPose3DQuatPDFGaussian& u);
174 const CPose3DQuatPDFGaussian&
x,
const CPose3DQuatPDFGaussian& u);
177 std::ostream&
operator<<(std::ostream& out,
const CPose3DQuatPDFGaussian&
obj);
181 namespace global_settings
CPose3DQuatPDFGaussian()
Default constructor - set all values to zero.
Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually),...
Declares a class that represents a Probability Density function (PDF) of a 3D pose .
void getMean(CPose3DQuat &mean_pose) const override
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
CPose3DQuatPDFGaussian operator-() const
Unary - operator, returns the PDF of the inverse pose.
void USE_SUT_EULER2QUAT_CONVERSION(bool value)
If set to true (default), a Scaled Unscented Transform is used instead of a linear approximation with...
CPose3DQuat & getPoseMean()
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 copyFrom(const CPose3DQuatPDF &o) override
Copy operator, translating if necesary (for example, between particles and gaussian representations)
void assureSymmetry()
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor ...
void changeCoordinatesReference(const CPose3DQuat &newReferenceBase)
this = p (+) this.
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 1x7 vectors,...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,...
CPose2D operator-(const CPose2D &p)
Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x...
bool saveToTextFile(const std::string &file) const override
Save the PDF to a text file, containing the 3D pose in the first line (x y z qr qx qy qz),...
void drawSingleSample(CPose3DQuat &outPart) const override
Draws a single sample from the distribution.
double evaluatePDF(const CPose3DQuat &x) const
Evaluates the PDF at a given point.
void operator+=(const CPose3DQuat &Ap)
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matri...
mrpt::math::CMatrixDouble77 cov
The 7x7 covariance matrix.
double mahalanobisDistanceTo(const CPose3DQuatPDFGaussian &theOther)
Computes the Mahalanobis distance between the centers of two Gaussians.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
void inverse(CPose3DQuatPDF &o) const override
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
TConstructorFlags_Quaternions
void getCovarianceAndMean(mrpt::math::CMatrixDouble77 &cov, CPose3DQuat &mean_point) const override
Returns an estimate of the pose covariance matrix (7x7 cov matrix) and the mean, both at once.
A numeric matrix of compile-time fixed size.
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
CPose3DQuat mean
The mean value.
bool operator==(const CPoint< DERIVEDCLASS > &p1, const CPoint< DERIVEDCLASS > &p2)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
GLsizei const GLfloat * value
Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion...
double evaluateNormalizedPDF(const CPose3DQuat &x) const
Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,...
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]
const CPose3DQuat & getPoseMean() const
void operator-=(const CPose3DQuatPDFGaussian &Ap)
Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean,...
Declares a class that represents a Probability Density function (PDF) of a 2D pose .
@ UNINITIALIZED_QUATERNION
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