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mrpt::poses::CPose3DPDFSOG Class Referenceabstract

Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose $ p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t $.

This class implements that PDF as the following multi-modal Gaussian distribution:

$ p(\mathbf{x}) = \sum\limits_{i=1}^N \omega^i \mathcal{N}( \mathbf{x} ; \bar{\mathbf{x}}^i, \mathbf{\Sigma}^i )  $

Where the number of modes N is the size of CPose3DPDFSOG::m_modes. Angles are always in radians.

See mrpt::poses::CPose3DPDF for more details.

See also
CPose3DPDF

Definition at line 34 of file CPose3DPDFSOG.h.

#include <mrpt/poses/CPose3DPDFSOG.h>

Inheritance diagram for mrpt::poses::CPose3DPDFSOG:
Inheritance graph

Classes

struct  TGaussianMode
 The struct for each mode: More...
 

Public Types

typedef mrpt::aligned_containers< TGaussianMode >::vector_t TModesList
 
typedef TModesList::const_iterator const_iterator
 
typedef TModesList::iterator iterator
 
enum  { is_3D_val = 1 }
 
enum  { is_PDF_val = 1 }
 
typedef CPose3D type_value
 The type of the state the PDF represents.
 

Public Member Functions

 CPose3DPDFSOG (size_t nModes=1)
 Default constructor.
 
void clear ()
 Clear all the gaussian modes.
 
void resize (const size_t N)
 Set the number of SOG modes.
 
size_t size () const
 Return the number of Gaussian modes.
 
bool empty () const
 Return whether there is any Gaussian mode.
 
iterator begin ()
 
iterator end ()
 
const_iterator begin () const
 
const_iterator end () const
 
void getMean (CPose3D &mean_pose) const MRPT_OVERRIDE
 Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed as a weighted average over all m_particles.
 
void getCovarianceAndMean (mrpt::math::CMatrixDouble66 &cov, CPose3D &mean_point) const MRPT_OVERRIDE
 Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once.
 
void normalizeWeights ()
 Normalize the weights in m_modes such as the maximum log-weight is 0.
 
void getMostLikelyMode (CPose3DPDFGaussian &outVal) const
 Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG)
 
void copyFrom (const CPose3DPDF &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 density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements:
 
void changeCoordinatesReference (const CPose3D &newReferenceBase) MRPT_OVERRIDE
 this = p (+) this.
 
void bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2) MRPT_OVERRIDE
 Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPose3DPDFSOG object and p2 a mrpt::poses::CPose3DPDFSOG object)
 
void drawSingleSample (CPose3D &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 1x6 vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum.
 
void inverse (CPose3DPDF &o) const MRPT_OVERRIDE
 Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
 
void appendFrom (const CPose3DPDFSOG &o)
 Append the Gaussian modes from "o" to the current set of modes of "this" density.
 
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 (CPose3D &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, CPose3D &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, CPose3D &mean_point) const
 Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
 
CPose3D 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 (CPose3D &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 CPose3DPDFcreateFrom2D (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 CPose3DPDF.
 
static void jacobiansPoseComposition (const CPose3D &x, const CPose3D &u, mrpt::math::CMatrixDouble66 &df_dx, mrpt::math::CMatrixDouble66 &df_du)
 This static method computes the pose composition Jacobians.
 
static bool is_3D ()
 
static bool is_PDF ()
 

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 classCPose3DPDF
 

Protected Member Functions

void assureSymmetry ()
 Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE
 
void readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE
 

Protected Attributes

TModesList m_modes
 Access directly to this array for modify the modes as desired.
 

RTTI stuff <br>

typedef CPose3DPDFSOGPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CPose3DPDFSOG
 
static mrpt::utils::TRuntimeClassId classCPose3DPDFSOG
 
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 CPose3DPDFSOGPtr Create ()
 

Member Typedef Documentation

◆ const_iterator

typedef TModesList::const_iterator mrpt::poses::CPose3DPDFSOG::const_iterator

Definition at line 57 of file CPose3DPDFSOG.h.

◆ iterator

typedef TModesList::iterator mrpt::poses::CPose3DPDFSOG::iterator

Definition at line 58 of file CPose3DPDFSOG.h.

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 37 of file CPose3DPDFSOG.h.

◆ TModesList

Definition at line 56 of file CPose3DPDFSOG.h.

◆ type_value

typedef CPose3D mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::type_value
inherited

The type of the state the PDF represents.

Definition at line 32 of file CProbabilityDensityFunction.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
inherited
Enumerator
is_3D_val 

Definition at line 91 of file CPose3DPDF.h.

◆ anonymous enum

anonymous enum
inherited
Enumerator
is_PDF_val 

Definition at line 93 of file CPose3DPDF.h.

Constructor & Destructor Documentation

◆ CPose3DPDFSOG()

mrpt::poses::CPose3DPDFSOG::CPose3DPDFSOG ( size_t  nModes = 1)

Default constructor.

Parameters
nModesThe initial size of CPose3DPDFSOG::m_modes

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId * mrpt::poses::CPose3DPDFSOG::_GetBaseClass ( )
staticprotected

◆ appendFrom()

void mrpt::poses::CPose3DPDFSOG::appendFrom ( const CPose3DPDFSOG o)

Append the Gaussian modes from "o" to the current set of modes of "this" density.

◆ assureSymmetry()

void mrpt::poses::CPose3DPDFSOG::assureSymmetry ( )
protected

Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)

◆ bayesianFusion()

void mrpt::poses::CPose3DPDFSOG::bayesianFusion ( const CPose3DPDF p1,
const CPose3DPDF p2 
)
virtual

Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPose3DPDFSOG object and p2 a mrpt::poses::CPose3DPDFSOG object)

Implements mrpt::poses::CPose3DPDF.

◆ begin() [1/2]

iterator mrpt::poses::CPose3DPDFSOG::begin ( )
inline

Definition at line 82 of file CPose3DPDFSOG.h.

◆ begin() [2/2]

const_iterator mrpt::poses::CPose3DPDFSOG::begin ( ) const
inline

Definition at line 84 of file CPose3DPDFSOG.h.

◆ changeCoordinatesReference()

void mrpt::poses::CPose3DPDFSOG::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< CPose3D, 6 >.

◆ clear()

void mrpt::poses::CPose3DPDFSOG::clear ( )

Clear all the gaussian modes.

◆ copyFrom()

void mrpt::poses::CPose3DPDFSOG::copyFrom ( const CPose3DPDF o)
virtual

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

Implements mrpt::poses::CPose3DPDF.

◆ Create()

static CPose3DPDFSOGPtr mrpt::poses::CPose3DPDFSOG::Create ( )
static

◆ createFrom2D()

static CPose3DPDF * mrpt::poses::CPose3DPDF::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 CPose3DPDF.

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

See also
copyFrom

◆ CreateObject()

static mrpt::utils::CObject * mrpt::poses::CPose3DPDFSOG::CreateObject ( )
static

◆ drawManySamples()

void mrpt::poses::CPose3DPDFSOG::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 1x6 vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum.

Reimplemented from mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >.

◆ drawSingleSample() [1/2]

void mrpt::poses::CPose3DPDFSOG::drawSingleSample ( CPose3D outPart) const

Draws a single sample from the distribution.

◆ drawSingleSample() [2/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::drawSingleSample ( CPose3D &  outPart) const
pure virtualinherited

Draws a single sample from the distribution.

◆ duplicate()

virtual mrpt::utils::CObject * mrpt::poses::CPose3DPDFSOG::duplicate ( ) const
virtual

◆ empty()

bool mrpt::poses::CPose3DPDFSOG::empty ( ) const
inline

Return whether there is any Gaussian mode.

Definition at line 80 of file CPose3DPDFSOG.h.

◆ end() [1/2]

iterator mrpt::poses::CPose3DPDFSOG::end ( )
inline

Definition at line 83 of file CPose3DPDFSOG.h.

◆ end() [2/2]

const_iterator mrpt::poses::CPose3DPDFSOG::end ( ) const
inline

Definition at line 85 of file CPose3DPDFSOG.h.

◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DPDF::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 109 of file CPose3DPDF.h.

◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >
void mrpt::poses::CPose3DPDF::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 100 of file CPose3DPDF.h.

◆ getCovariance() [1/3]

mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > mrpt::utils::CProbabilityDensityFunction< CPose3D , 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< CPose3D , 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< CPose3D , 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::CPose3DPDFSOG::getCovarianceAndMean ( mrpt::math::CMatrixDouble66 cov,
CPose3D mean_point 
) const

Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once.

See also
getMean

◆ getCovarianceAndMean() [2/2]

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceAndMean ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  cov,
CPose3D &  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< CPose3D , STATE_LEN >::getCovarianceDynAndMean ( mrpt::math::CMatrixDouble cov,
CPose3D &  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< CPose3D , 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()

virtual void mrpt::utils::CProbabilityDensityFunction< CPose3D , 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< CPose3D , STATE_LEN >::getMean ( CPose3D &  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::CPose3DPDFSOG::getMean ( CPose3D mean_pose) const

Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed as a weighted average over all m_particles.

See also
getCovariance

◆ getMeanVal()

CPose3D mrpt::utils::CProbabilityDensityFunction< CPose3D , 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.

◆ getMostLikelyMode()

void mrpt::poses::CPose3DPDFSOG::getMostLikelyMode ( CPose3DPDFGaussian outVal) const

Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG)

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId * mrpt::poses::CPose3DPDFSOG::GetRuntimeClass ( ) const
virtual

Reimplemented from mrpt::poses::CPose3DPDF.

◆ inverse()

void mrpt::poses::CPose3DPDFSOG::inverse ( CPose3DPDF o) const
virtual

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

Implements mrpt::poses::CPose3DPDF.

◆ is_3D()

static bool mrpt::poses::CPose3DPDF::is_3D ( )
inlinestaticinherited

Definition at line 92 of file CPose3DPDF.h.

◆ is_PDF()

static bool mrpt::poses::CPose3DPDF::is_PDF ( )
inlinestaticinherited

Definition at line 94 of file CPose3DPDF.h.

◆ jacobiansPoseComposition()

static void mrpt::poses::CPose3DPDF::jacobiansPoseComposition ( const CPose3D x,
const CPose3D u,
mrpt::math::CMatrixDouble66 df_dx,
mrpt::math::CMatrixDouble66 df_du 
)
staticinherited

This static method computes the pose composition Jacobians.

See this techical report: http:///www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty

Direct equations (for the covariances) in yaw-pitch-roll are too complex. Make a way around them and consider instead this path:

X(6D) U(6D)
| |
v v
X(7D) U(7D)
| |
+--- (+) ---+
|
v
RES(7D)
|
v
RES(6D)

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

◆ normalizeWeights()

void mrpt::poses::CPose3DPDFSOG::normalizeWeights ( )

Normalize the weights in m_modes such as the maximum log-weight is 0.

◆ readFromStream()

void mrpt::poses::CPose3DPDFSOG::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protected

◆ resize()

void mrpt::poses::CPose3DPDFSOG::resize ( const size_t  N)

Set the number of SOG modes.

◆ saveToTextFile()

void mrpt::poses::CPose3DPDFSOG::saveToTextFile ( const std::string &  file) const
virtual

Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements:

  • w (The linear weight)
  • x_mean (gaussian mean value)
  • y_mean (gaussian mean value)
  • x_mean (gaussian mean value)
  • yaw_mean (gaussian mean value, in radians)
  • pitch_mean (gaussian mean value, in radians)
  • roll_mean (gaussian mean value, in radians)
  • C11,C22,C33,C44,C55,C66 (Covariance elements)
  • C12,C13,C14,C15,C16 (Covariance elements)
  • C23,C24,C25,C25 (Covariance elements)
  • C34,C35,C36 (Covariance elements)
  • C45,C46 (Covariance elements)
  • C56 (Covariance elements)

Implements mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 >.

◆ size()

size_t mrpt::poses::CPose3DPDFSOG::size ( ) const
inline

Return the number of Gaussian modes.

Definition at line 79 of file CPose3DPDFSOG.h.

◆ writeToStream()

void mrpt::poses::CPose3DPDFSOG::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protected

Member Data Documentation

◆ _init_CPose3DPDFSOG

mrpt::utils::CLASSINIT mrpt::poses::CPose3DPDFSOG::_init_CPose3DPDFSOG
staticprotected

Definition at line 37 of file CPose3DPDFSOG.h.

◆ classCPose3DPDF

const mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DPDF::classCPose3DPDF
staticinherited

Definition at line 42 of file CPose3DPDF.h.

◆ classCPose3DPDFSOG

mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DPDFSOG::classCPose3DPDFSOG
static

Definition at line 37 of file CPose3DPDFSOG.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDFSOG::classinfo
static

Definition at line 37 of file CPose3DPDFSOG.h.

◆ m_modes

TModesList mrpt::poses::CPose3DPDFSOG::m_modes
protected

Access directly to this array for modify the modes as desired.

Note that no weight can be zero!! We must use pointers to satisfy the mem-alignment of the matrixes

Definition at line 69 of file CPose3DPDFSOG.h.

◆ state_length

const size_t mrpt::utils::CProbabilityDensityFunction< CPose3D , 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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