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10 #define CPosePDFGrid_H
46 double resolutionXY = 0.5f,
48 double phiMin = -
M_PIf,
void bayesianFusion(const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0) MRPT_OVERRIDE
Bayesian fusion of 2 densities (In the grid representation this becomes a pointwise multiplication)
Declares a class that represents a Probability Distribution function (PDF) of a 2D pose (x,...
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE(class_name, base_name)
void uniformDistribution()
Assigns the same value to all the cells in the grid, so the sum 1.
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)
CPosePDFGrid(double xMin=-1.0f, double xMax=1.0f, double yMin=-1.0f, double yMax=1.0f, double resolutionXY=0.5f, double resolutionPhi=mrpt::utils::DEG2RAD(180), double phiMin=-M_PIf, double phiMax=M_PIf)
Constructor: Initializes a, uniform distribution over the whole given range.
dynamic_vector< double > CVectorDouble
Column vector, like Eigen::MatrixXd, but automatically initialized to zeros since construction.
void normalize()
Normalizes the PDF, such as all cells sum the unity.
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.
double DEG2RAD(const double x)
Degrees to radians.
A class used to store a 2D pose.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
This is a template class for storing a 3D (2D+heading) grid containing any kind of data.
A numeric matrix of compile-time fixed size.
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
void changeCoordinatesReference(const CPose3D &newReferenceBase) MRPT_OVERRIDE
this = p (+) this.
virtual ~CPosePDFGrid()
Destructor.
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,...
void getMean(CPose2D &mean_pose) const MRPT_OVERRIDE
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
void copyFrom(const CPosePDF &o) MRPT_OVERRIDE
Copy operator, translating if necesary (for example, between particles and gaussian representations)
void saveToTextFile(const std::string &dataFile) const MRPT_OVERRIDE
Save the contents of the 3D grid in one file, as a vertical concatenation of rectangular matrix for t...
#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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