9#ifndef CPosePDFGaussianInf_H
10#define CPosePDFGaussianInf_H
81 this->cov_inv.inv(cov);
144 double evaluateNormalizedPDF( const
CPose2D &x ) const;
154 this->inverseComposition(*
this,ref);
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE(class_name, base_name)
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE(class_name, base_name)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
A numeric matrix of compile-time fixed size.
A class used to store a 2D pose.
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 (6D actually).
A Probability Density function (PDF) of a 2D pose as a Gaussian with a mean and the inverse of the c...
virtual void getInformationMatrix(mrpt::math::CMatrixDouble33 &inf) const MRPT_OVERRIDE
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix)
void changeCoordinatesReference(const CPose2D &newReferenceBase)
this = p (+) this.
CPosePDFGaussianInf()
Default constructor (mean=all zeros, inverse covariance=all zeros -> so be careful!...
void drawSingleSample(CPose2D &outPart) const MRPT_OVERRIDE
Draws a single sample from the distribution.
CPosePDFGaussianInf(const CPose2D &init_Mean, const mrpt::math::CMatrixDouble33 &init_CovInv)
Constructor.
void getCovarianceAndMean(mrpt::math::CMatrixDouble33 &cov, CPose2D &mean_point) const MRPT_OVERRIDE
Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once.
void changeCoordinatesReference(const CPose3D &newReferenceBase) MRPT_OVERRIDE
this = p (+) this.
void inverseComposition(const CPosePDFGaussianInf &x1, const CPosePDFGaussianInf &x0, const mrpt::math::CMatrixDouble33 &COV_01)
Set , computing the mean using the "-" operator and the covariances through the corresponding Jacobi...
void getMean(CPose2D &mean_pose) const MRPT_OVERRIDE
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
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 1x3 vectors,...
void copyFrom(const CPosePDF &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 PDF's particles to a text file, containing the 2D pose in the first line, then the covariance ma...
void assureSymmetry()
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor ...
void inverseComposition(const CPosePDFGaussianInf &x, const CPosePDFGaussianInf &ref)
Set , computing the mean using the "-" operator and the covariances through the corresponding Jacobi...
mrpt::math::CMatrixDouble33 cov_inv
The inverse of the 3x3 covariance matrix (the "information" matrix)
CPosePDFGaussianInf(const CPose3DPDF &o)
Copy constructor, including transformations between other PDFs.
void copyFrom(const CPose3DPDF &o)
Copy operator, translating if necesary (for example, between particles and gaussian representations)
void bayesianFusion(const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0) MRPT_OVERRIDE
Bayesian fusion of two points gauss.
CPosePDFGaussianInf(const CPosePDF &o)
Copy constructor, including transformations between other PDFs.
CPose2D mean
The mean value.
void rotateCov(const double ang)
Rotate the covariance matrix by replacing it by , where .
const CPose2D & getPoseMean() const
CPosePDFGaussianInf(const CPose2D &init_Mean)
Constructor with a mean value (inverse covariance=all zeros -> so be careful!)
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
EIGEN_STRONG_INLINE double mean() const
Computes the mean of the entire matrix.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
class BASE_IMPEXP CPose3DPDF
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.