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10 #define CPointPDFSOG_H
63 void assureSymmetry();
100 m_modes.push_back(m);
110 void resize(
const size_t N);
111 size_t size()
const {
return m_modes.size(); }
112 bool empty()
const {
return m_modes.empty(); }
121 void normalizeWeights();
124 void getMostLikelyMode( CPointPDFGaussian& outVal )
const;
149 void changeCoordinatesReference(
const CPose3D &newReferenceBase )
MRPT_OVERRIDE;
152 void drawSingleSample(CPoint3D &outSample)
const MRPT_OVERRIDE;
159 void bayesianFusion(
const CPointPDF &p1,
const CPointPDF &p2,
const double &minMahalanobisDistToDrop = 0)
MRPT_OVERRIDE;
164 void evaluatePDFInArea(
171 mrpt::math::CMatrixD &outMatrix,
172 bool sumOverAllZs = false );
175 double evaluatePDF( const CPoint3D &x,
bool sumOverAllZs ) const;
const_iterator end() const
const TGaussianMode & get(size_t i) const
Access to individual beacons.
A gaussian distribution for 3D points.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE(class_name, base_name)
size_t size(const MATRIXLIKE &m, int dim)
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
TGaussianMode & get(size_t i)
Access to individual beacons.
const typedef Scalar * const_iterator
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...
double log_w
The log-weight.
std::deque< TGaussianMode >::iterator iterator
std::deque< TGaussianMode >::const_iterator const_iterator
A numeric matrix of compile-time fixed size.
CListGaussianModes m_modes
The list of SOG modes.
Declares a class that represents a Probability Density function (PDF) of a 3D point .
const_iterator begin() const
std::deque< TGaussianMode > CListGaussianModes
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
iterator erase(iterator i)
EIGEN_STRONG_INLINE bool empty() const
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,...
Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x,...
The struct for each mode:
#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...
void push_back(const TGaussianMode &m)
Inserts a copy of the given mode into the SOG.
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