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18 class CPosePDFGaussian;
19 class CPose3DPDFGaussian;
115 std::vector<mrpt::math::CVectorDouble>& outSamples)
const override;
147 const CPose3DQuatPDFGaussianInf& p1,
const CPose3DQuatPDFGaussianInf& p2);
151 const CPose3DQuatPDFGaussianInf& x,
const CPose3DQuatPDFGaussianInf& u);
155 const CPose3DQuatPDFGaussianInf& x,
const CPose3DQuatPDFGaussianInf& u);
159 std::ostream&
out,
const CPose3DQuatPDFGaussianInf& obj);
void getInformationMatrix(mrpt::math::CMatrixDouble77 &inf) const override
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix)
void changeCoordinatesReference(const CPose3DQuat &newReferenceBase)
this = p (+) this.
Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually),...
void operator+=(const CPose3DQuat &Ap)
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matri...
bool isInfType() const override
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
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.
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)
double evaluateNormalizedPDF(const CPose3DQuat &x) const
Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,...
A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,...
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 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 1x7 vectors,...
Derived inverse_LLt() const
Returns the inverse of a symmetric matrix using LLt.
void drawSingleSample(CPose3DQuat &outPart) const override
Draws a single sample from the distribution.
bool saveToTextFile(const std::string &file) const override
Save the PDF to a text file, containing the 3D pose in the first line (x y z qr qx qy qz),...
A compile-time fixed-size numeric matrix container.
const CPose3DQuat & getPoseMean() const
void inverse(CPose3DQuatPDF &o) const override
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
TConstructorFlags_Quaternions
Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion...
void operator-=(const CPose3DQuatPDFGaussianInf &Ap)
Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean,...
CPose3DQuat mean
The mean value.
double evaluatePDF(const CPose3DQuat &x) const
Evaluates the PDF at a given point.
void copyFrom(const CPose3DQuatPDF &o) override
Copy operator, translating if necesary (for example, between particles and gaussian representations)
bool operator==(const CPoint< DERIVEDCLASS, DIM > &p1, const CPoint< DERIVEDCLASS, DIM > &p2)
void getMean(CPose3DQuat &mean_pose) const override
CPose3DQuat & getPoseMean()
CMatrixFixed< double, 7, 7 > CMatrixDouble77
CPose3DQuatPDFGaussianInf operator-() const
Unary - operator, returns the PDF of the inverse pose.
@ UNINITIALIZED_QUATERNION
mrpt::math::CMatrixDouble77 cov_inv
The 7x7 information matrix (the inverse of the covariance)
std::tuple< cov_mat_t, type_value > getCovarianceAndMean() const override
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