mrpt::math::CMatrixDouble66 m_fastdraw_gauss_Z6
CPose3DPDF::Ptr m_pdf3D
A local copy of the PDF.
CPose2D & getSamplingMean2D(CPose2D &out_mean) const
If the object has been loaded with setPosePDF this method returns the 2D pose mean samples will be dr...
void getOriginalPDFCov3D(mrpt::math::CMatrixDouble66 &cov6x6) const
Retrieves the 6x6 covariance of the original PDF in .
void setPosePDF(const CPosePDF &pdf)
This method must be called to select the PDF from which to draw samples.
CPose2D m_fastdraw_gauss_M_2D
bool isPrepared() const
Return true if samples can be generated, which only requires a previous call to setPosePDF.
Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually).
CPosePDF::Ptr m_pdf2D
A local copy of the PDF.
CPose2D & drawSample(CPose2D &p) const
Generate a new sample from the selected PDF.
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
CPoseRandomSampler & operator=(const CPoseRandomSampler &o)
A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
void do_sample_3D(CPose3D &p) const
Used internally: sample from m_pdf3D.
An efficient generator of random samples drawn from a given 2D (CPosePDF) or 3D (CPose3DPDF) pose pro...
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
void getOriginalPDFCov2D(mrpt::math::CMatrixDouble33 &cov3x3) const
Retrieves the 3x3 covariance of the original PDF in .
CPoseRandomSampler()
Default constructor.
std::shared_ptr< CPose3DPDF > Ptr
mrpt::math::CMatrixDouble33 m_fastdraw_gauss_Z3
std::shared_ptr< CPosePDF > Ptr
CPose3D & getSamplingMean3D(CPose3D &out_mean) const
If the object has been loaded with setPosePDF this method returns the 3D pose mean samples will be dr...
void do_sample_2D(CPose2D &p) const
Used internally: sample from m_pdf2D.
void clear()
Clear internal pdf.
CPose3D m_fastdraw_gauss_M_3D
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