9 #ifndef CPose3DPDFGaussianInf_H 10 #define CPose3DPDFGaussianInf_H 21 class CPosePDFGaussian;
22 class CPose3DQuatPDFGaussian;
46 void assureSymmetry();
89 mean_point = this->
mean;
90 this->cov_inv.inv(cov);
98 void copyFrom(
const CPose3DPDF &o);
115 void changeCoordinatesReference(
const CPose3D &newReferenceBase );
119 void drawSingleSample(
CPose3D &outPart )
const;
123 void drawManySamples(
size_t N, std::vector<mrpt::math::CVectorDouble> & outSamples )
const;
134 void bayesianFusion(
const CPose3DPDF &p1,
const CPose3DPDF &p2 );
138 void inverse(CPose3DPDF &o)
const;
162 double evaluatePDF(
const CPose3D &x )
const;
166 double evaluateNormalizedPDF(
const CPose3D &x )
const;
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, 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...
void getMean(CPose3D &mean_pose) const
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
virtual void getInformationMatrix(mrpt::math::CMatrixDouble66 &inf) const
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 using a quaternion...
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...
std::vector< T1 > & operator+=(std::vector< T1 > &a, const std::vector< T2 > &b)
a+=b (element-wise sum)
Eigen::Matrix< dataType, 4, 4 > inverse(Eigen::Matrix< dataType, 4, 4 > &pose)
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE(class_name, base_name)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
Declares a class that represents a probability density function (pdf) of a 2D pose (x...
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...
void getCovarianceAndMean(mrpt::math::CMatrixDouble66 &cov, CPose3D &mean_point) const
Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once...
bool operator==(const CPoint< DERIVEDCLASS > &p1, const CPoint< DERIVEDCLASS > &p2)
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 Density function (PDF) of a 3D pose as a Gaussian des...
EIGEN_STRONG_INLINE double mean() const
Computes the mean of the entire matrix.
CMatrixFixedNumeric< double, 6, 6 > CMatrixDouble66
Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...
std::ostream & operator<<(std::ostream &o, const CPoint< DERIVEDCLASS > &p)
Dumps a point as a string [x,y] or [x,y,z].