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9 #ifndef CPose3DPDFSOG_H
10 #define CPose3DPDFSOG_H
63 void assureSymmetry();
78 void resize(
const size_t N);
79 size_t size()
const {
return m_modes.size(); }
80 bool empty()
const {
return m_modes.empty(); }
89 void normalizeWeights();
121 void drawManySamples(
size_t N, std::vector<mrpt::math::CVectorDouble> & outSamples )
const MRPT_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 .
TModesList::iterator iterator
Declares a class that represents a Probability Density function (PDF) of a 3D pose .
double log_w
The log-weight.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE(class_name, base_name)
Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually).
TModesList::const_iterator const_iterator
size_t size() const
Return the number of Gaussian modes.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
const typedef Scalar * const_iterator
Eigen::Matrix< dataType, 4, 4 > inverse(Eigen::Matrix< dataType, 4, 4 > &pose)
TModesList m_modes
Access directly to this array for modify the modes as desired.
void saveToTextFile(const std::string &file, mrpt::math::TMatrixTextFileFormat fileFormat=mrpt::math::MATRIX_FORMAT_ENG, bool appendMRPTHeader=false, const std::string &userHeader=std::string()) const
Save matrix to a text file, compatible with MATLAB text format (see also the methods of matrix classe...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
const_iterator begin() const
A numeric matrix of compile-time fixed size.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
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,...
std::vector< TYPE1, Eigen::aligned_allocator< TYPE1 > > vector_t
mrpt::aligned_containers< TGaussianMode >::vector_t TModesList
The struct for each mode:
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE(class_name, base_name)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
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