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9 #ifndef CPose3DPDFGaussianInf_H
10 #define CPose3DPDFGaussianInf_H
21 class CPosePDFGaussian;
22 class CPose3DQuatPDFGaussian;
84 mean_point = this->
mean;
85 this->cov_inv.inv(
cov);
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...
void saveToTextFile(const std::string &file) const MRPT_OVERRIDE
Save the PDF to a text file, containing the 3D pose in the first line, then the covariance matrix in ...
void getCovarianceAndMean(mrpt::math::CMatrixDouble66 &cov, CPose3D &mean_point) const MRPT_OVERRIDE
Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once.
void copyFrom(const CPose3DPDF &o) MRPT_OVERRIDE
Copy operator, translating if necesary (for example, between particles and gaussian representations)
void drawSingleSample(CPose3D &outPart) const MRPT_OVERRIDE
Draws a single sample from the distribution.
mrpt::math::CMatrixDouble66 cov_inv
The inverse of the 6x6 covariance matrix.
CPose3DPDFGaussianInf(TConstructorFlags_Poses constructor_dummy_param)
Uninitialized constructor: leave all fields uninitialized - Call with UNINITIALIZED_POSE as argument.
void copyFrom(const CPosePDF &o)
Copy operator, translating if necesary (for example, between particles and gaussian representations)
void getInvCovSubmatrix2D(mrpt::math::CMatrixDouble &out_cov) const
Returns a 3x3 matrix with submatrix of the inverse covariance for the variables (x,...
void bayesianFusion(const CPose3DPDF &p1, const CPose3DPDF &p2) MRPT_OVERRIDE
Bayesian fusion of two points gauss.
#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).
CPose3DPDFGaussianInf()
Default constructor - mean: all zeros, inverse covariance=all zeros -> so be careful!
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
void changeCoordinatesReference(const CPose3D &newReferenceBase) MRPT_OVERRIDE
this = p (+) this.
Eigen::Matrix< dataType, 4, 4 > inverse(Eigen::Matrix< dataType, 4, 4 > &pose)
double mahalanobisDistanceTo(const CPose3DPDFGaussianInf &theOther)
Computes the Mahalanobis distance between the centers of two Gaussians.
CPose3D mean
The mean value.
std::vector< T1 > & operator+=(std::vector< T1 > &a, const std::vector< T2 > &b)
a+=b (element-wise sum)
CPose3DPDFGaussianInf(const CPose3DQuatPDFGaussian &o)
Constructor from a 6D pose PDF described as a Quaternion.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
virtual void getInformationMatrix(mrpt::math::CMatrixDouble66 &inf) const MRPT_OVERRIDE
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix)
Declares a class that represents a Probability Density function (PDF) of a 3D pose as a Gaussian des...
void copyFrom(const CPose3DQuatPDFGaussian &o)
Copy from a 6D pose PDF described as a Quaternion.
void getMean(CPose3D &mean_pose) const MRPT_OVERRIDE
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
A numeric matrix of compile-time fixed size.
CPose3DPDFGaussianInf(const CPose3D &init_Mean, const mrpt::math::CMatrixDouble66 &init_CovInv)
Constructor with mean and inv cov.
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
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 1x6 vectors,...
double evaluateNormalizedPDF(const CPose3D &x) const
Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,...
void assureSymmetry()
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor ...
#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.
Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion...
void inverse(CPose3DPDF &o) const MRPT_OVERRIDE
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
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,...
const CPose3D & getPoseMean() const
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
CPose3DPDFGaussianInf(const CPose3D &init_Mean)
Constructor with a mean value, inverse covariance=all zeros -> so be careful!
double evaluatePDF(const CPose3D &x) const
Evaluates the PDF at a given point.
#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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