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9 #ifndef CPosePDFGaussian_H
10 #define CPosePDFGaussian_H
20 class CPoint2DPDFGaussian;
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.
void changeCoordinatesReference(const CPose3D &newReferenceBase) MRPT_OVERRIDE
this = p (+) this.
CPosePDFGaussian(const CPose3DPDF &o)
Copy constructor, including transformations between other PDFs.
void bayesianFusion(const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0) MRPT_OVERRIDE
Bayesian fusion of two points gauss.
void assureSymmetry()
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor ...
void drawManySamples(size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const MRPT_OVERRIDE
Draws a number of samples from the distribution, and saves as a list of 1x3 vectors,...
void inverseComposition(const CPosePDFGaussian &x, const CPosePDFGaussian &ref)
Set , computing the mean using the "-" operator and the covariances through the corresponding Jacobi...
#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.
void copyFrom(const CPosePDF &o) MRPT_OVERRIDE
Copy operator, translating if necesary (for example, between particles and gaussian representations)
void saveToTextFile(const std::string &file) const MRPT_OVERRIDE
Save PDF's particles to a text file, containing the 2D pose in the first line, then the covariance ma...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
void changeCoordinatesReference(const CPose2D &newReferenceBase)
this = p (+) this.
void rotateCov(const double ang)
Rotate the covariance matrix by replacing it by , where .
Eigen::Matrix< dataType, 4, 4 > inverse(Eigen::Matrix< dataType, 4, 4 > &pose)
void drawSingleSample(CPose2D &outPart) const MRPT_OVERRIDE
Draws a single sample from the distribution.
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).
void inverseComposition(const CPosePDFGaussian &x1, const CPosePDFGaussian &x0, const mrpt::math::CMatrixDouble33 &COV_01)
Set , computing the mean using the "-" operator and the covariances through the corresponding Jacobi...
CPosePDFGaussian()
Default constructor.
CPosePDFGaussian(const CPose2D &init_Mean)
Constructor.
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,...
CPosePDFGaussian(const CPose2D &init_Mean, const mrpt::math::CMatrixDouble33 &init_Cov)
Constructor.
void composePoint(const mrpt::math::TPoint2D &l, CPoint2DPDFGaussian &g) const
Returns the PDF of the 2D point with "q"=this pose and "l" a point without uncertainty.
#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.
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 .
void copyFrom(const CPose3DPDF &o)
Copy operator, translating if necesary (for example, between particles and gaussian representations)
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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