9 #ifndef CPose3DPDFParticles_H
10 #define CPose3DPDFParticles_H
72 size_t size()
const {
return m_particles.size(); }
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE(class_name, base_name)
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE(class_name, base_name)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
std::deque< CParticleData > CParticleList
Use this type to refer to the list of particles m_particles.
A numeric matrix of compile-time fixed size.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually).
Declares a class that represents a Probability Density function (PDF) of a 3D pose.
void inverse(CPose3DPDF &o) const MRPT_OVERRIDE
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
void changeCoordinatesReference(const CPose3D &newReferenceBase) MRPT_OVERRIDE
this = p (+) this.
CPose3D getMostLikelyParticle() const
Returns the particle with the highest weight.
void append(CPose3DPDFParticles &o)
Appends (add to the list) a set of m_particles to the existing ones, and then normalize weights.
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.
CPose3D getParticlePose(int i) const
Returns the pose of the i'th particle.
void getMean(CPose3D &mean_pose) const MRPT_OVERRIDE
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF),...
void resetDeterministic(const CPose3D &location, size_t particlesCount=0)
Reset the PDF to a single point: All m_particles will be set exactly to the supplied pose.
size_t size() const
Get the m_particles count (equivalent to "particlesCount")
void drawSingleSample(CPose3D &outPart) const MRPT_OVERRIDE
Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!...
void copyFrom(const CPose3DPDF &o) MRPT_OVERRIDE
Copy operator, translating if necesary (for example, between m_particles and gaussian representations...
void bayesianFusion(const CPose3DPDF &p1, const CPose3DPDF &p2) MRPT_OVERRIDE
Bayesian fusion.
void saveToTextFile(const std::string &file) const MRPT_OVERRIDE
Save PDF's m_particles to a text file. In each line it will go: "x y z".
CPose3DPDFParticles(size_t M=1)
Constructor.
virtual ~CPose3DPDFParticles()
Destructor.
CPose3DPDFParticles(const CPose3DPDFParticles &obj)
Copy constructor.
void drawManySamples(size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const MRPT_OVERRIDE
Draws a number of samples from the distribution, and saves as a list of 1x6 vectors,...
std::vector< T1 > & operator+=(std::vector< T1 > &a, const std::vector< T2 > &b)
a+=b (element-wise sum)
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
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,...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.