Go to the documentation of this file.
68 void assureSymmetry();
77 size_t size()
const {
return m_modes.size(); }
78 bool empty()
const {
return m_modes.empty(); }
107 m_modes.push_back(m);
117 void resize(
const size_t N);
125 void mergeModes(
double max_KLd = 0.5,
bool verbose =
false );
130 void normalizeWeights();
153 void rotateAllCovariances(
const double &ang);
155 void drawManySamples(
size_t N, std::vector<mrpt::math::CVectorDouble> & outSamples )
const MRPT_OVERRIDE;
164 void evaluatePDFInArea(
165 const double & x_min,
166 const double & x_max,
167 const double & y_min,
168 const double & y_max,
169 const double & resolutionXY,
172 bool sumOverAllPhis =
false );
const_iterator end() const
const TGaussianMode & get(size_t i) const
Access to individual beacons.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE(class_name, base_name)
size_t size(const MATRIXLIKE &m, int dim)
TGaussianMode & get(size_t i)
Access to individual beacons.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
void push_back(const TGaussianMode &m)
Inserts a copy of the given mode into the SOG.
iterator erase(iterator i)
const typedef Scalar * const_iterator
Eigen::Matrix< dataType, 4, 4 > inverse(Eigen::Matrix< dataType, 4, 4 > &pose)
The struct for each mode:
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)
#define MRPT_MAKE_ALIGNED_OPERATOR_NEW
A class used to store a 2D pose.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
CListGaussianModes m_modes
The list of SOG modes.
const_iterator begin() const
A numeric matrix of compile-time fixed size.
mrpt::math::CMatrixDouble33 cov
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
mrpt::aligned_containers< TGaussianMode >::vector_t CListGaussianModes
CListGaussianModes::const_iterator const_iterator
#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.
EIGEN_STRONG_INLINE bool empty() const
This class is a "CSerializable" wrapper for "CMatrixTemplateNumeric<double>".
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,...
CListGaussianModes::iterator iterator
std::vector< TYPE1, Eigen::aligned_allocator< TYPE1 > > vector_t
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Declares a class that represents a Probability Density function (PDF) of a 2D pose .
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE(class_name, base_name)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
double log_w
The log-weight.
Page generated by Doxygen 1.8.17 for MRPT 1.4.0 SVN: at Tue Mar 3 09:15:16 UTC 2020 | | |