9 #ifndef CPointPDFParticles_H 10 #define CPointPDFParticles_H 57 public
mrpt::bayes::CParticleFilterDataImpl<CPointPDFParticles,
mrpt::bayes::CParticleFilterData<TSimple3DPoint>::
CParticleList>
65 CPointPDFParticles(
size_t numParticles = 1);
69 virtual ~CPointPDFParticles();
83 return m_particles.size();
89 void getMean(
CPoint3D &mean_point)
const;
98 void copyFrom(
const CPointPDF &o);
107 void changeCoordinatesReference(
const CPose3D &newReferenceBase );
111 double computeKurtosis();
115 void drawSingleSample(
CPoint3D &outSample)
const;
122 void bayesianFusion(
const CPointPDF &p1,
const CPointPDF &p2,
const double &minMahalanobisDistToDrop = 0);
The virtual base class which provides a unified interface for all persistent objects in MRPT...
void saveToTextFile(const std::string &file, mrpt::math::TMatrixTextFileFormat fileFormat=mrpt::math::MATRIX_FORMAT_ENG, bool appendMRPTHeader=false, const std::string &userHeader=std::string()) const
Save matrix to a text file, compatible with MATLAB text format (see also the methods of matrix classe...
TSimple3DPoint(const CPoint3D &v)
A numeric matrix of compile-time fixed size.
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...
class BASE_IMPEXP CSerializable
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...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE(class_name, base_name)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
Data within each particle.
A class used to store a 3D point.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
std::deque< CParticleData > CParticleList
Use this type to refer to the list of particles m_particles.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE(class_name, base_name)
Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x...
A probability distribution of a 2D/3D point, represented as a set of random samples (particles)...
size_t size() const
Returns the number of particles.