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9 #ifndef CPosePDFGaussian_H
10 #define CPosePDFGaussian_H
20 class CPoint2DPDFGaussian;
40 void assureSymmetry();
104 void changeCoordinatesReference(
const CPose2D &newReferenceBase );
108 void rotateCov(
const double ang);
114 void inverseComposition(
126 void drawManySamples(
size_t N, std::vector<mrpt::math::CVectorDouble> & outSamples )
const MRPT_OVERRIDE;
144 void operator += ( const
CPose2D &Ap);
147 double evaluatePDF( const
CPose2D &x ) const;
150 double evaluateNormalizedPDF( const
CPose2D &x ) const;
156 void assureMinCovariance( const
double & minStdXY, const
double &minStdPhi );
163 this->inverseComposition(*
this,ref);
void getCovarianceAndMean(mrpt::math::CMatrixDouble33 &cov, CPose2D &mean_point) const MRPT_OVERRIDE
Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once.
CPose2D BASE_IMPEXP operator-(const CPose2D &p)
Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x...
CPosePDFGaussian(const CPose3DPDF &o)
Copy constructor, including transformations between other PDFs.
#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).
mrpt::math::CMatrixDouble33 cov
The 3x3 covariance matrix.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Eigen::Matrix< dataType, 4, 4 > inverse(Eigen::Matrix< dataType, 4, 4 > &pose)
mrpt::math::TPoint2D BASE_IMPEXP operator+(const CPose2D &pose, const mrpt::math::TPoint2D &pnt)
Compose a 2D point from a new coordinate base given by a 2D pose.
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...
CPose2D mean
The mean value.
void getMean(CPose2D &mean_pose) const MRPT_OVERRIDE
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
A class used to store a 2D pose.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
A gaussian distribution for 2D points.
CPosePDFGaussian(const CPosePDF &o)
Copy constructor, including transformations between other PDFs.
A numeric matrix of compile-time fixed size.
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
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...
EIGEN_STRONG_INLINE double mean() const
Computes the mean of the entire matrix.
std::ostream & operator<<(std::ostream &o, const CPoint< DERIVEDCLASS > &p)
Dumps a point as a string [x,y] or [x,y,z]
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,...
Declares a class that represents a Probability Density function (PDF) of a 2D pose .
const CPose2D & getPoseMean() const
#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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