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9 #ifndef CPointPDFParticles_H
10 #define CPointPDFParticles_H
83 return m_particles.size();
Data within each particle.
std::deque< CParticleData > CParticleList
Use this type to refer to the list of particles m_particles.
void setSize(size_t numberParticles, const CPoint3D &defaultValue=CPoint3D(0, 0, 0))
Erase all the previous particles and change the number of particles, with a given initial value.
size_t size() const
Returns the number of particles.
A probability distribution of a 2D/3D point, represented as a set of random samples (particles).
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE(class_name, base_name)
TSimple3DPoint(const CPoint3D &v)
void getMean(CPoint3D &mean_point) const MRPT_OVERRIDE
Returns an estimate of the point, (the mean, or mathematical expectation of the PDF)
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
double computeKurtosis()
Compute the kurtosis of the distribution.
TSimple3DPoint(const TSimple3DPoint &o)
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
CPointPDFParticles(size_t numParticles=1)
Default constructor.
void clear()
Clear all the particles (free memory)
void copyFrom(const CPointPDF &o) MRPT_OVERRIDE
Copy operator, translating if necesary (for example, between particles and gaussian representations)
EIGEN_STRONG_INLINE void setSize(size_t row, size_t col)
Changes the size of matrix, maintaining its previous content as possible and padding with zeros where...
A numeric matrix of compile-time fixed size.
The virtual base class which provides a unified interface for all persistent objects in MRPT.
void bayesianFusion(const CPointPDF &p1, const CPointPDF &p2, const double &minMahalanobisDistToDrop=0) MRPT_OVERRIDE
Bayesian fusion of two point distributions (product of two distributions->new distribution),...
void getCovarianceAndMean(mrpt::math::CMatrixDouble33 &cov, CPoint3D &mean_point) const MRPT_OVERRIDE
Returns an estimate of the point covariance matrix (3x3 cov matrix) and the mean, both at once.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
virtual ~CPointPDFParticles()
Destructor.
void saveToTextFile(const std::string &file) const MRPT_OVERRIDE
Save PDF's particles to a text file, where each line is: X Y Z LOG_W.
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 Distribution function (PDF) of a 3D point (x,...
void changeCoordinatesReference(const CPose3D &newReferenceBase) MRPT_OVERRIDE
this = p (+) this.
A class used to store a 3D point.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
void drawSingleSample(CPoint3D &outSample) const MRPT_OVERRIDE
Draw a sample from the pdf.
#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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