9 #ifndef CPose3DQuatPDFGaussianInf_H 10 #define CPose3DQuatPDFGaussianInf_H 21 class CPosePDFGaussian;
22 class CPose3DPDFGaussian;
53 explicit CPose3DQuatPDFGaussianInf( const
CPose3DQuat &init_Mean );
85 void copyFrom(
const CPose3DQuatPDF &o);
93 void changeCoordinatesReference(
const CPose3DQuat &newReferenceBase );
98 void changeCoordinatesReference(
const CPose3D &newReferenceBase );
101 void drawSingleSample(
CPose3DQuat &outPart )
const;
104 void drawManySamples(
size_t N, std::vector<mrpt::math::CVectorDouble> & outSamples )
const;
107 void inverse(CPose3DQuatPDF &o)
const;
135 double evaluateNormalizedPDF(
const CPose3DQuat &x )
const;
void getCovarianceAndMean(mrpt::math::CMatrixDouble77 &cov, CPose3DQuat &mean_point) const
Returns an estimate of the pose covariance matrix (7x7 cov matrix) and the mean, both at once...
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 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...
TConstructorFlags_Quaternions
Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion...
virtual void getInformationMatrix(mrpt::math::CMatrixDouble77 &inf) const
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) ...
A numeric matrix of compile-time fixed size.
CPose3DQuat & getPoseMean()
void getMean(CPose3DQuat &mean_pose) const
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
CMatrixFixedNumeric< double, 7, 7 > CMatrixDouble77
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...
std::vector< T1 > & operator+=(std::vector< T1 > &a, const std::vector< T2 > &b)
a+=b (element-wise sum)
Eigen::Matrix< dataType, 4, 4 > inverse(Eigen::Matrix< dataType, 4, 4 > &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...
A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz).
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
bool operator==(const CPoint< DERIVEDCLASS > &p1, const CPoint< DERIVEDCLASS > &p2)
Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE(class_name, base_name)
EIGEN_STRONG_INLINE double mean() const
Computes the mean of the entire matrix.
std::ostream & operator<<(std::ostream &o, const CPoint< DERIVEDCLASS > &p)
Dumps a point as a string [x,y] or [x,y,z].