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18 class CPosePDFGaussian;
19 class CPose3DQuatPDFGaussian;
129 std::vector<mrpt::math::CVectorDouble>& outSamples)
const override;
182 const CPose3DPDFGaussianInf& p1,
const CPose3DPDFGaussianInf& p2);
186 const CPose3DPDFGaussianInf& x,
const CPose3DPDFGaussianInf& u);
190 const CPose3DPDFGaussianInf& x,
const CPose3DPDFGaussianInf& u);
192 std::ostream&
operator<<(std::ostream&
out,
const CPose3DPDFGaussianInf& obj);
double evaluatePDF(const CPose3D &x) const
Evaluates the PDF at a given point.
void getInformationMatrix(mrpt::math::CMatrixDouble66 &inf) const override
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix)
void inverse(CPose3DPDF &o) const override
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
mrpt::math::CMatrixDouble66 cov_inv
The inverse of the 6x6 covariance matrix.
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
bool saveToTextFile(const std::string &file) const override
Save the PDF to a text file, containing the 3D pose in the first line, then the covariance matrix in ...
CMatrixFixed< double, 6, 6 > CMatrixDouble66
Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually).
mrpt::math::TPoint2D operator+(const CPose2D &pose, const mrpt::math::TPoint2D &pnt)
Compose a 2D point from a new coordinate base given by a 2D pose.
void operator-=(const CPose3DPDFGaussianInf &Ap)
Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean,...
mrpt::vision::TStereoCalibResults out
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
std::ostream & operator<<(std::ostream &o, const CPoint2D &p)
Dumps a point as a string (x,y)
CPose2D operator-(const CPose2D &p)
Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x...
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
void drawSingleSample(CPose3D &outPart) const override
Draws a single sample from the distribution.
void operator+=(const CPose3D &Ap)
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matri...
Derived inverse_LLt() const
Returns the inverse of a symmetric matrix using LLt.
CPose3D mean
The mean value.
A compile-time fixed-size numeric matrix container.
void copyFrom(const CPose3DPDF &o) override
Copy operator, translating if necesary (for example, between particles and gaussian representations)
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Declares a class that represents a Probability Density function (PDF) of a 3D pose as a Gaussian des...
std::tuple< cov_mat_t, type_value > getCovarianceAndMean() const override
double evaluateNormalizedPDF(const CPose3D &x) const
Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,...
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
void getMean(CPose3D &mean_pose) const override
CPose3DPDFGaussianInf()
Default constructor - mean: all zeros, inverse covariance=all zeros -> so be careful!
bool operator==(const CPoint< DERIVEDCLASS, DIM > &p1, const CPoint< DERIVEDCLASS, DIM > &p2)
CPose3DPDFGaussianInf operator-() const
Unary - operator, returns the PDF of the inverse pose.
double mahalanobisDistanceTo(const CPose3DPDFGaussianInf &theOther)
Computes the Mahalanobis distance between the centers of two Gaussians.
Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion...
bool isInfType() const override
const CPose3D & getPoseMean() const
void changeCoordinatesReference(const CPose3D &newReferenceBase) override
this = p (+) this.
void bayesianFusion(const CPose3DPDF &p1, const CPose3DPDF &p2) override
Bayesian fusion of two points gauss.
void getInvCovSubmatrix2D(mrpt::math::CMatrixDouble &out_cov) const
Returns a 3x3 matrix with submatrix of the inverse covariance for the variables (x,...
void enforceCovSymmetry()
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor ...
void drawManySamples(size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const override
Draws a number of samples from the distribution, and saves as a list of 1x6 vectors,...
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