10 #define CPosePDFGrid_H 46 double resolutionXY = 0.5f,
48 double phiMin = -
M_PIf,
58 void copyFrom(const CPosePDF &o);
66 void uniformDistribution();
71 void getMean(
CPose2D &mean_pose) const;
85 void changeCoordinatesReference( const
CPose3D &newReferenceBase );
89 void bayesianFusion(const CPosePDF &p1,const CPosePDF &p2, const
double &minMahalanobisDistToDrop = 0 );
93 void inverse(CPosePDF &o) const;
97 void drawSingleSample(
CPose2D &outPart ) const;
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...
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...
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...
CMatrixFixedNumeric< double, 3, 3 > CMatrixDouble33
Declares a class that represents a probability density function (pdf) of a 2D pose (x...
void normalize(Scalar valMin, Scalar valMax)
Scales all elements such as the minimum & maximum values are shifted to the given values...
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...
A class used to store a 2D pose.
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)
dynamic_vector< double > CVectorDouble
Column vector, like Eigen::MatrixXd, but automatically initialized to zeros since construction...
Declares a class that represents a Probability Distribution function (PDF) of a 2D pose (x...
This is a template class for storing a 3D (2D+heading) grid containing any kind of data...