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9 #ifndef CPose3DPDFGaussianInf_H
10 #define CPose3DPDFGaussianInf_H
21 class CPosePDFGaussian;
22 class CPose3DQuatPDFGaussian;
46 void assureSymmetry();
84 mean_point = this->
mean;
85 this->cov_inv.inv(
cov);
112 void drawManySamples(
size_t N, std::vector<mrpt::math::CVectorDouble> & outSamples )
const MRPT_OVERRIDE;
140 double evaluatePDF(
const CPose3D &x )
const;
141 double evaluateNormalizedPDF(
const CPose3D &x )
const;
156 CPose3DPDFGaussianInf
BASE_IMPEXP operator +(
const CPose3DPDFGaussianInf &x,
const CPose3DPDFGaussianInf &u );
158 CPose3DPDFGaussianInf
BASE_IMPEXP operator -(
const CPose3DPDFGaussianInf &x,
const CPose3DPDFGaussianInf &u );
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...
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.
mrpt::math::CMatrixDouble66 cov_inv
The inverse of the 6x6 covariance matrix.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE(class_name, base_name)
Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually).
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
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...
CPose3D mean
The mean value.
std::vector< T1 > & operator+=(std::vector< T1 > &a, const std::vector< T2 > &b)
a+=b (element-wise sum)
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
virtual void getInformationMatrix(mrpt::math::CMatrixDouble66 &inf) const MRPT_OVERRIDE
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix)
Declares a class that represents a Probability Density function (PDF) of a 3D pose as a Gaussian des...
void getMean(CPose3D &mean_pose) const MRPT_OVERRIDE
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
A numeric matrix of compile-time fixed size.
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
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.
Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion...
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,...
const CPose3D & getPoseMean() const
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
#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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