Go to the documentation of this file.
9 #ifndef CPosePDFGaussianInf_H
10 #define CPosePDFGaussianInf_H
81 this->cov_inv.inv(
cov);
144 double evaluateNormalizedPDF( const
CPose2D &x ) const;
154 this->inverseComposition(*
this,ref);
CPosePDFGaussianInf(const CPose3DPDF &o)
Copy constructor, including transformations between other PDFs.
CPosePDFGaussianInf(const CPose2D &init_Mean, const mrpt::math::CMatrixDouble33 &init_CovInv)
Constructor.
void copyFrom(const CPose3DPDF &o)
Copy operator, translating if necesary (for example, between particles and gaussian representations)
void changeCoordinatesReference(const CPose3D &newReferenceBase) MRPT_OVERRIDE
this = p (+) this.
void inverseComposition(const CPosePDFGaussianInf &x, const CPosePDFGaussianInf &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).
CPose2D mean
The mean value.
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...
void getMean(CPose2D &mean_pose) const MRPT_OVERRIDE
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
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 CPosePDFGaussianInf &x1, const CPosePDFGaussianInf &x0, const mrpt::math::CMatrixDouble33 &COV_01)
Set , computing the mean using the "-" operator and the covariances through the corresponding Jacobi...
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.
void changeCoordinatesReference(const CPose2D &newReferenceBase)
this = p (+) this.
void bayesianFusion(const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0) MRPT_OVERRIDE
Bayesian fusion of two points gauss.
mrpt::math::CMatrixDouble33 cov_inv
The inverse of the 3x3 covariance matrix (the "information" matrix)
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.
A class used to store a 2D pose.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
void copyFrom(const CPosePDF &o) MRPT_OVERRIDE
Copy operator, translating if necesary (for example, between particles and gaussian representations)
void assureSymmetry()
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor ...
A Probability Density function (PDF) of a 2D pose as a Gaussian with a mean and the inverse of the c...
void rotateCov(const double ang)
Rotate the covariance matrix by replacing it by , where .
A numeric matrix of compile-time fixed size.
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
virtual void getInformationMatrix(mrpt::math::CMatrixDouble33 &inf) const MRPT_OVERRIDE
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix)
#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.
CPosePDFGaussianInf(const CPosePDF &o)
Copy constructor, including transformations between other PDFs.
const CPose2D & getPoseMean() const
CPosePDFGaussianInf(const CPose2D &init_Mean)
Constructor with a mean value (inverse covariance=all zeros -> so be careful!)
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,...
CPosePDFGaussianInf()
Default constructor (mean=all zeros, inverse covariance=all zeros -> so be careful!...
#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...
Page generated by Doxygen 1.8.20 for MRPT 1.4.0 SVN: at Thu Aug 27 02:40:23 UTC 2020 | | |