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mrpt::poses::CPose3DQuatPDFGaussianInf Class Referenceabstract

Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion $ p(\mathbf{x}) = [x ~ y ~ z ~ qr ~ qx ~ qy ~ qz]^\top $.

This class implements that PDF using a mono-modal Gaussian distribution storing the information matrix instead of its inverse, the covariance matrix. See mrpt::poses::CPose3DQuatPDF for more details, or mrpt::poses::CPose3DPDF for classes based on Euler angles instead.

Uncertainty of pose composition operations ( $ y = x \oplus u $) is implemented in the methods "CPose3DQuatPDFGaussianInf::operator+=" and "CPose3DQuatPDF::jacobiansPoseComposition".

For further details on implemented methods and the theory behind them, see this report.

See also
CPose3DQuat, CPose3DQuatPDF, CPose3DPDF, CPose3DQuatPDFGaussian

Definition at line 40 of file CPose3DQuatPDFGaussianInf.h.

#include <mrpt/poses/CPose3DQuatPDFGaussianInf.h>

Inheritance diagram for mrpt::poses::CPose3DQuatPDFGaussianInf:
Inheritance graph

Public Types

typedef CPose3DQuat type_value
 The type of the state the PDF represents.
 

Public Member Functions

 CPose3DQuatPDFGaussianInf ()
 Default constructor - set all values to zero.
 
 CPose3DQuatPDFGaussianInf (mrpt::math::TConstructorFlags_Quaternions constructor_dummy_param)
 Constructor which left all the member uninitialized, for using when speed is critical - as argument, use UNINITIALIZED_QUATERNION.
 
 CPose3DQuatPDFGaussianInf (const CPose3DQuat &init_Mean)
 Constructor from a default mean value, information matrix equals to zero.
 
 CPose3DQuatPDFGaussianInf (const CPose3DQuat &init_Mean, const mrpt::math::CMatrixDouble77 &init_CovInv)
 Constructor with mean and inverse covariance (information matrix).
 
const CPose3DQuatgetPoseMean () const
 
CPose3DQuatgetPoseMean ()
 
void getMean (CPose3DQuat &mean_pose) const MRPT_OVERRIDE
 Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF)
 
void getCovarianceAndMean (mrpt::math::CMatrixDouble77 &cov, CPose3DQuat &mean_point) const MRPT_OVERRIDE
 Returns an estimate of the pose covariance matrix (7x7 cov matrix) and the mean, both at once.
 
void getInformationMatrix (mrpt::math::CMatrixDouble77 &inf) const MRPT_OVERRIDE
 Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix)
 
void copyFrom (const CPose3DQuatPDF &o) MRPT_OVERRIDE
 Copy operator, translating if necesary (for example, between particles and gaussian representations)
 
void saveToTextFile (const std::string &file) const MRPT_OVERRIDE
 Save the PDF to a text file, containing the 3D pose in the first line (x y z qr qx qy qz), then the information matrix in the next 7 lines.
 
void changeCoordinatesReference (const CPose3DQuat &newReferenceBase)
 this = p (+) this.
 
void changeCoordinatesReference (const CPose3D &newReferenceBase) MRPT_OVERRIDE
 this = p (+) this.
 
void drawSingleSample (CPose3DQuat &outPart) const MRPT_OVERRIDE
 Draws a single sample from the distribution.
 
void drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const MRPT_OVERRIDE
 Draws a number of samples from the distribution, and saves as a list of 1x7 vectors, where each row contains a (x,y,z,qr,qx,qy,qz) datum.
 
void inverse (CPose3DQuatPDF &o) const MRPT_OVERRIDE
 Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
 
CPose3DQuatPDFGaussianInf operator- () const
 Unary - operator, returns the PDF of the inverse pose.
 
void operator+= (const CPose3DQuat &Ap)
 Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).
 
void operator+= (const CPose3DQuatPDFGaussianInf &Ap)
 Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ).
 
void operator-= (const CPose3DQuatPDFGaussianInf &Ap)
 Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated).
 
double evaluatePDF (const CPose3DQuat &x) const
 Evaluates the PDF at a given point.
 
double evaluateNormalizedPDF (const CPose3DQuat &x) const
 Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].
 
template<class OPENGL_SETOFOBJECTSPTR >
void getAs3DObject (OPENGL_SETOFOBJECTSPTR &out_obj) const
 Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list)
 
template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR getAs3DObject () const
 Returns a 3D representation of this PDF.
 
virtual void getMean (CPose3DQuat &mean_point) const=0
 Returns the mean, or mathematical expectation of the probability density distribution (PDF).
 
virtual void getCovarianceAndMean (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, CPose3DQuat &mean_point) const=0
 Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
 
void getCovarianceDynAndMean (mrpt::math::CMatrixDouble &cov, CPose3DQuat &mean_point) const
 Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
 
CPose3DQuat getMeanVal () const
 Returns the mean, or mathematical expectation of the probability density distribution (PDF).
 
void getCovariance (mrpt::math::CMatrixDouble &cov) const
 Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
 
void getCovariance (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const
 Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
 
mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > getCovariance () const
 Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
 
virtual void getInformationMatrix (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &inf) const
 Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it.
 
virtual void drawSingleSample (CPose3DQuat &outPart) const=0
 Draws a single sample from the distribution.
 
double getCovarianceEntropy () const
 Compute the entropy of the estimated covariance matrix.
 

Static Public Member Functions

static CPose3DQuatPDFcreateFrom2D (const CPosePDF &o)
 This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of CPose3DQuatPDF.
 
static void jacobiansPoseComposition (const CPose3DQuat &x, const CPose3DQuat &u, mrpt::math::CMatrixDouble77 &df_dx, mrpt::math::CMatrixDouble77 &df_du, CPose3DQuat *out_x_oplus_u=NULL)
 This static method computes the two Jacobians of a pose composition operation $f(x,u)= x \oplus u$.
 

Public Attributes

CPose3DQuat mean
 The mean value.
 
mrpt::math::CMatrixDouble77 cov_inv
 The 7x7 information matrix (the inverse of the covariance)
 

Static Public Attributes

static const size_t state_length
 The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll).
 
RTTI stuff <br>
static const mrpt::utils::TRuntimeClassId classCPose3DQuatPDF
 

Protected Member Functions

CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE
 
void readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE
 

RTTI stuff <br>

typedef CPose3DQuatPDFGaussianInfPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CPose3DQuatPDFGaussianInf
 
static mrpt::utils::TRuntimeClassId classCPose3DQuatPDFGaussianInf
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const MRPT_OVERRIDE
 
virtual mrpt::utils::CObjectduplicate () const MRPT_OVERRIDE
 
static mrpt::utils::CObjectCreateObject ()
 
static CPose3DQuatPDFGaussianInfPtr Create ()
 

Member Typedef Documentation

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 43 of file CPose3DQuatPDFGaussianInf.h.

◆ type_value

typedef CPose3DQuat mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::type_value
inherited

The type of the state the PDF represents.

Definition at line 32 of file CProbabilityDensityFunction.h.

Constructor & Destructor Documentation

◆ CPose3DQuatPDFGaussianInf() [1/4]

mrpt::poses::CPose3DQuatPDFGaussianInf::CPose3DQuatPDFGaussianInf ( )

Default constructor - set all values to zero.

◆ CPose3DQuatPDFGaussianInf() [2/4]

mrpt::poses::CPose3DQuatPDFGaussianInf::CPose3DQuatPDFGaussianInf ( mrpt::math::TConstructorFlags_Quaternions  constructor_dummy_param)

Constructor which left all the member uninitialized, for using when speed is critical - as argument, use UNINITIALIZED_QUATERNION.

◆ CPose3DQuatPDFGaussianInf() [3/4]

mrpt::poses::CPose3DQuatPDFGaussianInf::CPose3DQuatPDFGaussianInf ( const CPose3DQuat init_Mean)
explicit

Constructor from a default mean value, information matrix equals to zero.

◆ CPose3DQuatPDFGaussianInf() [4/4]

mrpt::poses::CPose3DQuatPDFGaussianInf::CPose3DQuatPDFGaussianInf ( const CPose3DQuat init_Mean,
const mrpt::math::CMatrixDouble77 init_CovInv 
)

Constructor with mean and inverse covariance (information matrix).

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId * mrpt::poses::CPose3DQuatPDFGaussianInf::_GetBaseClass ( )
staticprotected

◆ changeCoordinatesReference() [1/2]

void mrpt::poses::CPose3DQuatPDFGaussianInf::changeCoordinatesReference ( const CPose3D newReferenceBase)
virtual

this = p (+) this.

This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. Result PDF substituted the currently stored one in the object.

Implements mrpt::utils::CProbabilityDensityFunction< CPose3DQuat, 7 >.

◆ changeCoordinatesReference() [2/2]

void mrpt::poses::CPose3DQuatPDFGaussianInf::changeCoordinatesReference ( const CPose3DQuat newReferenceBase)

this = p (+) this.

This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. Result PDF substituted the currently stored one in the object.

◆ copyFrom()

void mrpt::poses::CPose3DQuatPDFGaussianInf::copyFrom ( const CPose3DQuatPDF o)
virtual

Copy operator, translating if necesary (for example, between particles and gaussian representations)

Implements mrpt::poses::CPose3DQuatPDF.

◆ Create()

static CPose3DQuatPDFGaussianInfPtr mrpt::poses::CPose3DQuatPDFGaussianInf::Create ( )
static

◆ createFrom2D()

static CPose3DQuatPDF * mrpt::poses::CPose3DQuatPDF::createFrom2D ( const CPosePDF o)
staticinherited

This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of CPose3DQuatPDF.

This object must be deleted by the user when not required anymore.

See also
copyFrom

◆ CreateObject()

static mrpt::utils::CObject * mrpt::poses::CPose3DQuatPDFGaussianInf::CreateObject ( )
static

◆ drawManySamples()

void mrpt::poses::CPose3DQuatPDFGaussianInf::drawManySamples ( size_t  N,
std::vector< mrpt::math::CVectorDouble > &  outSamples 
) const
virtual

Draws a number of samples from the distribution, and saves as a list of 1x7 vectors, where each row contains a (x,y,z,qr,qx,qy,qz) datum.

Reimplemented from mrpt::utils::CProbabilityDensityFunction< CPose3DQuat, 7 >.

◆ drawSingleSample() [1/2]

void mrpt::poses::CPose3DQuatPDFGaussianInf::drawSingleSample ( CPose3DQuat outPart) const

Draws a single sample from the distribution.

◆ drawSingleSample() [2/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::drawSingleSample ( CPose3DQuat &  outPart) const
pure virtualinherited

Draws a single sample from the distribution.

◆ duplicate()

virtual mrpt::utils::CObject * mrpt::poses::CPose3DQuatPDFGaussianInf::duplicate ( ) const
virtual

◆ evaluateNormalizedPDF()

double mrpt::poses::CPose3DQuatPDFGaussianInf::evaluateNormalizedPDF ( const CPose3DQuat x) const

Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].

◆ evaluatePDF()

double mrpt::poses::CPose3DQuatPDFGaussianInf::evaluatePDF ( const CPose3DQuat x) const

Evaluates the PDF at a given point.

◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DQuatPDF::getAs3DObject ( ) const
inlineinherited

Returns a 3D representation of this PDF.

Note
Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.

Definition at line 88 of file CPose3DQuatPDF.h.

◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >
void mrpt::poses::CPose3DQuatPDF::getAs3DObject ( OPENGL_SETOFOBJECTSPTR &  out_obj) const
inlineinherited

Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list)

Note
Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.

Definition at line 79 of file CPose3DQuatPDF.h.

◆ getCovariance() [1/3]

mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getCovariance ( ) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also
getMean, getInformationMatrix

Definition at line 85 of file CProbabilityDensityFunction.h.

◆ getCovariance() [2/3]

void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getCovariance ( mrpt::math::CMatrixDouble cov) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also
getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 67 of file CProbabilityDensityFunction.h.

◆ getCovariance() [3/3]

void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getCovariance ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  cov) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also
getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 76 of file CProbabilityDensityFunction.h.

◆ getCovarianceAndMean() [1/2]

void mrpt::poses::CPose3DQuatPDFGaussianInf::getCovarianceAndMean ( mrpt::math::CMatrixDouble77 cov,
CPose3DQuat mean_point 
) const
inline

Returns an estimate of the pose covariance matrix (7x7 cov matrix) and the mean, both at once.

See also
getMean

Definition at line 71 of file CPose3DQuatPDFGaussianInf.h.

References mean().

◆ getCovarianceAndMean() [2/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getCovarianceAndMean ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  cov,
CPose3DQuat &  mean_point 
) const
pure virtualinherited

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See also
getMean, getInformationMatrix

◆ getCovarianceDynAndMean()

void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getCovarianceDynAndMean ( mrpt::math::CMatrixDouble cov,
CPose3DQuat &  mean_point 
) const
inlineinherited

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See also
getMean, getInformationMatrix

Definition at line 47 of file CProbabilityDensityFunction.h.

◆ getCovarianceEntropy()

double mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getCovarianceEntropy ( ) const
inlineinherited

Compute the entropy of the estimated covariance matrix.

See also
http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy

Definition at line 136 of file CProbabilityDensityFunction.h.

◆ getInformationMatrix() [1/2]

void mrpt::poses::CPose3DQuatPDFGaussianInf::getInformationMatrix ( mrpt::math::CMatrixDouble77 inf) const
inline

Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix)

See also
getMean, getCovarianceAndMean

Definition at line 77 of file CPose3DQuatPDFGaussianInf.h.

◆ getInformationMatrix() [2/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getInformationMatrix ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  inf) const
inlinevirtualinherited

Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it.

See also
getMean, getCovarianceAndMean

Definition at line 98 of file CProbabilityDensityFunction.h.

◆ getMean() [1/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getMean ( CPose3DQuat &  mean_point) const
pure virtualinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See also
getCovarianceAndMean, getInformationMatrix

◆ getMean() [2/2]

void mrpt::poses::CPose3DQuatPDFGaussianInf::getMean ( CPose3DQuat mean_pose) const
inline

Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF)

See also
getCovariance

Definition at line 66 of file CPose3DQuatPDFGaussianInf.h.

References mean().

◆ getMeanVal()

CPose3DQuat mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getMeanVal ( ) const
inlineinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See also
getCovariance, getInformationMatrix

Definition at line 57 of file CProbabilityDensityFunction.h.

◆ getPoseMean() [1/2]

CPose3DQuat & mrpt::poses::CPose3DQuatPDFGaussianInf::getPoseMean ( )
inline

Definition at line 63 of file CPose3DQuatPDFGaussianInf.h.

References mean().

◆ getPoseMean() [2/2]

const CPose3DQuat & mrpt::poses::CPose3DQuatPDFGaussianInf::getPoseMean ( ) const
inline

Definition at line 62 of file CPose3DQuatPDFGaussianInf.h.

References mean().

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId * mrpt::poses::CPose3DQuatPDFGaussianInf::GetRuntimeClass ( ) const
virtual

Reimplemented from mrpt::poses::CPose3DQuatPDF.

◆ inverse()

void mrpt::poses::CPose3DQuatPDFGaussianInf::inverse ( CPose3DQuatPDF o) const
virtual

Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.

Implements mrpt::poses::CPose3DQuatPDF.

◆ jacobiansPoseComposition()

static void mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition ( const CPose3DQuat x,
const CPose3DQuat u,
mrpt::math::CMatrixDouble77 df_dx,
mrpt::math::CMatrixDouble77 df_du,
CPose3DQuat out_x_oplus_u = NULL 
)
staticinherited

This static method computes the two Jacobians of a pose composition operation $f(x,u)= x \oplus u$.

Parameters
out_x_oplus_uIf set to !=NULL, the result of "x+u" will be stored here (it will be computed internally anyway). To see the mathematical derivation of the formulas, refer to the technical report here:

Referenced by mrpt::math::jacobians::jacobs_6D_pose_comp().

◆ operator+=() [1/2]

void mrpt::poses::CPose3DQuatPDFGaussianInf::operator+= ( const CPose3DQuat Ap)

Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).

◆ operator+=() [2/2]

void mrpt::poses::CPose3DQuatPDFGaussianInf::operator+= ( const CPose3DQuatPDFGaussianInf Ap)

Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ).

◆ operator-()

CPose3DQuatPDFGaussianInf mrpt::poses::CPose3DQuatPDFGaussianInf::operator- ( ) const
inline

Unary - operator, returns the PDF of the inverse pose.


Definition at line 98 of file CPose3DQuatPDFGaussianInf.h.

References mrpt::math::UNINITIALIZED_QUATERNION.

◆ operator-=()

void mrpt::poses::CPose3DQuatPDFGaussianInf::operator-= ( const CPose3DQuatPDFGaussianInf Ap)

Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated).

◆ readFromStream()

void mrpt::poses::CPose3DQuatPDFGaussianInf::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protected

◆ saveToTextFile()

void mrpt::poses::CPose3DQuatPDFGaussianInf::saveToTextFile ( const std::string &  file) const
virtual

Save the PDF to a text file, containing the 3D pose in the first line (x y z qr qx qy qz), then the information matrix in the next 7 lines.

Implements mrpt::utils::CProbabilityDensityFunction< CPose3DQuat, 7 >.

◆ writeToStream()

void mrpt::poses::CPose3DQuatPDFGaussianInf::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protected

Member Data Documentation

◆ _init_CPose3DQuatPDFGaussianInf

mrpt::utils::CLASSINIT mrpt::poses::CPose3DQuatPDFGaussianInf::_init_CPose3DQuatPDFGaussianInf
staticprotected

Definition at line 43 of file CPose3DQuatPDFGaussianInf.h.

◆ classCPose3DQuatPDF

const mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DQuatPDF::classCPose3DQuatPDF
staticinherited

Definition at line 45 of file CPose3DQuatPDF.h.

◆ classCPose3DQuatPDFGaussianInf

mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DQuatPDFGaussianInf::classCPose3DQuatPDFGaussianInf
static

Definition at line 43 of file CPose3DQuatPDFGaussianInf.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DQuatPDFGaussianInf::classinfo
static

Definition at line 43 of file CPose3DQuatPDFGaussianInf.h.

◆ cov_inv

mrpt::math::CMatrixDouble77 mrpt::poses::CPose3DQuatPDFGaussianInf::cov_inv

The 7x7 information matrix (the inverse of the covariance)

Definition at line 60 of file CPose3DQuatPDFGaussianInf.h.

◆ mean

CPose3DQuat mrpt::poses::CPose3DQuatPDFGaussianInf::mean

The mean value.

Definition at line 59 of file CPose3DQuatPDFGaussianInf.h.

◆ state_length

const size_t mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::state_length
staticinherited

The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll).

Definition at line 31 of file CProbabilityDensityFunction.h.




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