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9 #ifndef CPose3DQuatPDFGaussianInf_H
10 #define CPose3DQuatPDFGaussianInf_H
21 class CPosePDFGaussian;
22 class CPose3DPDFGaussian;
86 void changeCoordinatesReference(
const CPose3DQuat &newReferenceBase );
94 void drawManySamples(
size_t N, std::vector<mrpt::math::CVectorDouble> & outSamples )
const MRPT_OVERRIDE;
110 double evaluateNormalizedPDF(
const CPose3DQuat &x )
const;
115 bool BASE_IMPEXP operator==(
const CPose3DQuatPDFGaussianInf &p1,
const CPose3DQuatPDFGaussianInf &p2);
117 CPose3DQuatPDFGaussianInf
BASE_IMPEXP operator +(
const CPose3DQuatPDFGaussianInf &x,
const CPose3DQuatPDFGaussianInf &u );
119 CPose3DQuatPDFGaussianInf
BASE_IMPEXP operator -(
const CPose3DQuatPDFGaussianInf &x,
const CPose3DQuatPDFGaussianInf &u );
Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually),...
CPose2D BASE_IMPEXP operator-(const CPose2D &p)
Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x...
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE(class_name, base_name)
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.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,...
Eigen::Matrix< dataType, 4, 4 > inverse(Eigen::Matrix< dataType, 4, 4 > &pose)
mrpt::math::TPoint2D BASE_IMPEXP operator+(const CPose2D &pose, const mrpt::math::TPoint2D &pnt)
Compose a 2D point from a new coordinate base given by a 2D pose.
void saveToTextFile(const std::string &file, mrpt::math::TMatrixTextFileFormat fileFormat=mrpt::math::MATRIX_FORMAT_ENG, bool appendMRPTHeader=false, const std::string &userHeader=std::string()) const
Save matrix to a text file, compatible with MATLAB text format (see also the methods of matrix classe...
std::vector< T1 > & operator+=(std::vector< T1 > &a, const std::vector< T2 > &b)
a+=b (element-wise sum)
const CPose3DQuat & getPoseMean() const
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
void getInformationMatrix(mrpt::math::CMatrixDouble77 &inf) const MRPT_OVERRIDE
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix)
TConstructorFlags_Quaternions
Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion...
A numeric matrix of compile-time fixed size.
CPose3DQuat mean
The mean value.
void getMean(CPose3DQuat &mean_pose) const MRPT_OVERRIDE
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF)
bool operator==(const CPoint< DERIVEDCLASS > &p1, const CPoint< DERIVEDCLASS > &p2)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
EIGEN_STRONG_INLINE double mean() const
Computes the mean of the entire matrix.
CPose3DQuat & getPoseMean()
std::ostream & operator<<(std::ostream &o, const CPoint< DERIVEDCLASS > &p)
Dumps a point as a string [x,y] or [x,y,z]
Eigen::Matrix< typename MATRIX::Scalar, MATRIX::ColsAtCompileTime, MATRIX::ColsAtCompileTime > cov(const MATRIX &v)
Computes the covariance matrix from a list of samples in an NxM matrix, where each row is a sample,...
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
mrpt::math::CMatrixDouble77 cov_inv
The 7x7 information matrix (the inverse of the covariance)
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE(class_name, base_name)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
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