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<h1>CPoseRandomSampler.h</h1> </div>
</div>
<div class="contents">
<a href="_c_pose_random_sampler_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://mrpt.sourceforge.net/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CPoseRandomSampler_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CPoseRandomSampler_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_pose_p_d_f_8h.html">mrpt/poses/CPosePDF.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_p_d_f_8h.html">mrpt/poses/CPose3DPDF.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_matrix_template_numeric_8h.html">mrpt/math/CMatrixTemplateNumeric.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="keyword">namespace </span>mrpt
<a name="l00036"></a>00036 {
<a name="l00037"></a>00037 <span class="keyword">namespace </span>poses
<a name="l00038"></a>00038 {
<a name="l00039"></a>00039 <span class="keyword">using namespace </span>mrpt::math;
<a name="l00040"></a>00040 <span class="comment"></span>
<a name="l00041"></a>00041 <span class="comment"> /** An efficient generator of random samples drawn from a given 2D (CPosePDF) or 3D (CPose3DPDF) pose probability density function (pdf).</span>
<a name="l00042"></a>00042 <span class="comment"> * This class keeps an internal state which speeds up the sequential generation of samples. It can manage</span>
<a name="l00043"></a>00043 <span class="comment"> * any kind of pose PDF.</span>
<a name="l00044"></a>00044 <span class="comment"> *</span>
<a name="l00045"></a>00045 <span class="comment"> * Use with CPoseRandomSampler::setPosePDF, then CPoseRandomSampler::drawSample to draw values.</span>
<a name="l00046"></a>00046 <span class="comment"> *</span>
<a name="l00047"></a>00047 <span class="comment"> * Notice that you can pass a 2D or 3D pose PDF, then ask for a 2D or 3D sample. This class always returns</span>
<a name="l00048"></a>00048 <span class="comment"> * the kind of sample you ask it for, but will skip missing terms or fill out with zeroes as required.</span>
<a name="l00049"></a>00049 <span class="comment"> * Specifically, when sampling 3D poses from a 2D pose pdf, this class will be smart enought to draw only </span>
<a name="l00050"></a>00050 <span class="comment"> * the 3 required dimensions, avoiding a waste of time with the other 3 missing components.</span>
<a name="l00051"></a>00051 <span class="comment"> *</span>
<a name="l00052"></a>00052 <span class="comment"> * \sa CPosePDF, CPose3DPDF</span>
<a name="l00053"></a>00053 <span class="comment"> */</span>
<a name="l00054"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html">00054</a> <span class="keyword">class </span><a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html" title="An efficient generator of random samples drawn from a given 2D (CPosePDF) or 3D (CPose3DPDF) pose pro...">CPoseRandomSampler</a>
<a name="l00055"></a>00055 {
<a name="l00056"></a>00056 <span class="keyword">protected</span>:
<a name="l00057"></a>00057 <span class="comment">// Only ONE of these can be not-NULL at a time.</span>
<a name="l00058"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a2c44712b8dd6fe2d743e5fabfe15d6dd">00058</a> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html" title="Declares a class that represents a probability density function (pdf) of a 2D pose (x...">CPosePDF</a>* <a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a2c44712b8dd6fe2d743e5fabfe15d6dd" title="A local copy of the PDF.">m_pdf2D</a>; <span class="comment">//!< A local copy of the PDF</span>
<a name="l00059"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a307d311cf8f72e2fc472c6a80575ca3d">00059</a> <span class="comment"></span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">CPose3DPDF</a>* <a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a307d311cf8f72e2fc472c6a80575ca3d" title="A local copy of the PDF.">m_pdf3D</a>; <span class="comment">//!< A local copy of the PDF</span>
<a name="l00060"></a>00060 <span class="comment"></span>
<a name="l00061"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a36c77ecd14b9d7bc2117dfd937655176">00061</a> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble33</a> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a36c77ecd14b9d7bc2117dfd937655176">m_fastdraw_gauss_Z3</a>;
<a name="l00062"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a1f9b5aa4379ba458589653f723f2bc6a">00062</a> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble66</a> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a1f9b5aa4379ba458589653f723f2bc6a">m_fastdraw_gauss_Z6</a>;
<a name="l00063"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a30ed3bf4b6f03d15a4626e4e4ee85988">00063</a> <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a30ed3bf4b6f03d15a4626e4e4ee85988">m_fastdraw_gauss_M_2D</a>;
<a name="l00064"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a54ae005633faa3bdb3bbe867a435a460">00064</a> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a54ae005633faa3bdb3bbe867a435a460">m_fastdraw_gauss_M_3D</a>;
<a name="l00065"></a>00065
<a name="l00066"></a>00066 <span class="keywordtype">void</span> clear(); <span class="comment">//!< Clear internal pdf</span>
<a name="l00067"></a>00067 <span class="comment"></span>
<a name="l00068"></a>00068 <span class="keywordtype">void</span> do_sample_2D( <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> &p ) <span class="keyword">const</span>; <span class="comment">//!< Used internally: sample from m_pdf2D</span>
<a name="l00069"></a>00069 <span class="comment"></span> <span class="keywordtype">void</span> do_sample_3D( <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &p ) <span class="keyword">const</span>; <span class="comment">//!< Used internally: sample from m_pdf3D</span>
<a name="l00070"></a>00070 <span class="comment"></span>
<a name="l00071"></a>00071 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00072"></a>00072 <span class="comment"> /** Default constructor */</span>
<a name="l00073"></a>00073 <a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html" title="An efficient generator of random samples drawn from a given 2D (CPosePDF) or 3D (CPose3DPDF) pose pro...">CPoseRandomSampler</a>();
<a name="l00074"></a>00074 <span class="comment"></span>
<a name="l00075"></a>00075 <span class="comment"> /** Destructor */</span>
<a name="l00076"></a>00076 ~<a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html" title="An efficient generator of random samples drawn from a given 2D (CPosePDF) or 3D (CPose3DPDF) pose pro...">CPoseRandomSampler</a>();
<a name="l00077"></a>00077 <span class="comment"></span>
<a name="l00078"></a>00078 <span class="comment"> /** This method must be called to select the PDF from which to draw samples.</span>
<a name="l00079"></a>00079 <span class="comment"> * \sa drawSample</span>
<a name="l00080"></a>00080 <span class="comment"> */</span>
<a name="l00081"></a>00081 <span class="keywordtype">void</span> setPosePDF( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html" title="Declares a class that represents a probability density function (pdf) of a 2D pose (x...">CPosePDF</a> *pdf );
<a name="l00082"></a>00082 <span class="comment"></span>
<a name="l00083"></a>00083 <span class="comment"> /** This method must be called to select the PDF from which to draw samples.</span>
<a name="l00084"></a>00084 <span class="comment"> * \sa drawSample</span>
<a name="l00085"></a>00085 <span class="comment"> */</span>
<a name="l00086"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#adef38aec1a41ec6a4231647f5eb345d4">00086</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#adef38aec1a41ec6a4231647f5eb345d4" title="This method must be called to select the PDF from which to draw samples.">setPosePDF</a>( <span class="keyword">const</span> <a class="code" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_ptr.html">CPosePDFPtr</a> &pdf ) { <a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#adef38aec1a41ec6a4231647f5eb345d4" title="This method must be called to select the PDF from which to draw samples.">setPosePDF</a>(pdf.<a class="code" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_ptr.html#a6ee1c24c10b95558bfd7354ce1f6ed86">pointer</a>()); }
<a name="l00087"></a>00087 <span class="comment"></span>
<a name="l00088"></a>00088 <span class="comment"> /** This method must be called to select the PDF from which to draw samples.</span>
<a name="l00089"></a>00089 <span class="comment"> * \sa drawSample</span>
<a name="l00090"></a>00090 <span class="comment"> */</span>
<a name="l00091"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a5e12878050c3f3994f389ad8cd12c666">00091</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a5e12878050c3f3994f389ad8cd12c666" title="This method must be called to select the PDF from which to draw samples.">setPosePDF</a>( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html" title="Declares a class that represents a probability density function (pdf) of a 2D pose (x...">CPosePDF</a> &pdf ) { <a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a5e12878050c3f3994f389ad8cd12c666" title="This method must be called to select the PDF from which to draw samples.">setPosePDF</a>(&pdf); }
<a name="l00092"></a>00092 <span class="comment"></span>
<a name="l00093"></a>00093 <span class="comment"> /** This method must be called to select the PDF from which to draw samples.</span>
<a name="l00094"></a>00094 <span class="comment"> * \sa drawSample</span>
<a name="l00095"></a>00095 <span class="comment"> */</span>
<a name="l00096"></a>00096 <span class="keywordtype">void</span> setPosePDF( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">CPose3DPDF</a> *pdf );
<a name="l00097"></a>00097 <span class="comment"></span>
<a name="l00098"></a>00098 <span class="comment"> /** This method must be called to select the PDF from which to draw samples.</span>
<a name="l00099"></a>00099 <span class="comment"> * \sa drawSample</span>
<a name="l00100"></a>00100 <span class="comment"> */</span>
<a name="l00101"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a940459f37d1bb6e17c67ab80861db6c2">00101</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a940459f37d1bb6e17c67ab80861db6c2" title="This method must be called to select the PDF from which to draw samples.">setPosePDF</a>( <span class="keyword">const</span> <a class="code" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> &pdf ) { <a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a940459f37d1bb6e17c67ab80861db6c2" title="This method must be called to select the PDF from which to draw samples.">setPosePDF</a>(pdf.<a class="code" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html#a68c17e8cb0ef5dcc042807f1f7189f7c">pointer</a>()); }
<a name="l00102"></a>00102 <span class="comment"></span>
<a name="l00103"></a>00103 <span class="comment"> /** This method must be called to select the PDF from which to draw samples.</span>
<a name="l00104"></a>00104 <span class="comment"> * \sa drawSample</span>
<a name="l00105"></a>00105 <span class="comment"> */</span>
<a name="l00106"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#ab1d1cc59e5e5c3b2978517f1e28bd36d">00106</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#ab1d1cc59e5e5c3b2978517f1e28bd36d" title="This method must be called to select the PDF from which to draw samples.">setPosePDF</a>( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">CPose3DPDF</a> &pdf ) { <a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#ab1d1cc59e5e5c3b2978517f1e28bd36d" title="This method must be called to select the PDF from which to draw samples.">setPosePDF</a>(&pdf); }
<a name="l00107"></a>00107 <span class="comment"></span>
<a name="l00108"></a>00108 <span class="comment"> /** Generate a new sample from the selected PDF.</span>
<a name="l00109"></a>00109 <span class="comment"> * \return A reference to the same object passed as argument.</span>
<a name="l00110"></a>00110 <span class="comment"> * \sa setPosePDF</span>
<a name="l00111"></a>00111 <span class="comment"> */</span>
<a name="l00112"></a>00112 <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> & drawSample( <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> &p ) <span class="keyword">const</span>;
<a name="l00113"></a>00113 <span class="comment"></span>
<a name="l00114"></a>00114 <span class="comment"> /** Generate a new sample from the selected PDF.</span>
<a name="l00115"></a>00115 <span class="comment"> * \return A reference to the same object passed as argument.</span>
<a name="l00116"></a>00116 <span class="comment"> * \sa setPosePDF</span>
<a name="l00117"></a>00117 <span class="comment"> */</span>
<a name="l00118"></a>00118 <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> & drawSample( <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &p ) <span class="keyword">const</span>;
<a name="l00119"></a>00119 <span class="comment"></span>
<a name="l00120"></a>00120 <span class="comment"> /** Return true if samples can be generated, which only requires a previous call to setPosePDF */</span>
<a name="l00121"></a>00121 <span class="keywordtype">bool</span> isPrepared() <span class="keyword">const</span>;
<a name="l00122"></a>00122 <span class="comment"></span>
<a name="l00123"></a>00123 <span class="comment"> /** If the object has been loaded with setPosePDF this method returns the 2D pose mean samples will be drawn around. \return A reference to the argument */</span>
<a name="l00124"></a>00124 <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> &getSamplingMean2D(<a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> &out_mean) <span class="keyword">const</span>;
<a name="l00125"></a>00125 <span class="comment"></span>
<a name="l00126"></a>00126 <span class="comment"> /** If the object has been loaded with setPosePDF this method returns the 3D pose mean samples will be drawn around. \return A reference to the argument */</span>
<a name="l00127"></a>00127 <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &getSamplingMean3D(<a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &out_mean) <span class="keyword">const</span>;
<a name="l00128"></a>00128 <span class="comment"></span>
<a name="l00129"></a>00129 <span class="comment"> /** Retrieves the 3x3 covariance of the original PDF in \f$ [ x ~ y ~ \phi ] \f$. */</span>
<a name="l00130"></a>00130 <span class="keywordtype">void</span> getOriginalPDFCov2D( <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble33</a> &cov3x3 ) <span class="keyword">const</span>;
<a name="l00131"></a>00131 <span class="comment"></span>
<a name="l00132"></a>00132 <span class="comment"> /** Retrieves the 3x3 covariance of the original PDF in \f$ [ x ~ y ~ \phi ] \f$. */</span>
<a name="l00133"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a4225a1da5c0b9ec0fefa924d7e9ca093">00133</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a4225a1da5c0b9ec0fefa924d7e9ca093" title="Retrieves the 3x3 covariance of the original PDF in .">getOriginalPDFCov2D</a>( <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixDouble</a> &cov3x3 )<span class="keyword"> const </span>{
<a name="l00134"></a>00134 <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble33</a> M;
<a name="l00135"></a>00135 this->getOriginalPDFCov2D(M);
<a name="l00136"></a>00136 cov3x3 = <a class="code" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6" title="Declares a matrix of double numbers (non serializable).">CMatrixDouble</a>(M);
<a name="l00137"></a>00137 }
<a name="l00138"></a>00138 <span class="comment"></span>
<a name="l00139"></a>00139 <span class="comment"> /** Retrieves the 6x6 covariance of the original PDF in \f$ [ x ~ y ~ z ~ yaw ~ pitch ~ roll ] \f$. */</span>
<a name="l00140"></a>00140 <span class="keywordtype">void</span> getOriginalPDFCov3D( <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble66</a> &cov6x6 ) <span class="keyword">const</span>;
<a name="l00141"></a>00141 <span class="comment"></span>
<a name="l00142"></a>00142 <span class="comment"> /** Retrieves the 6x6 covariance of the original PDF in \f$ [ x ~ y ~ z ~ yaw ~ pitch ~ roll ] \f$. */</span>
<a name="l00143"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#aac1343b9e1de1d2fae603a47d8b4893c">00143</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#aac1343b9e1de1d2fae603a47d8b4893c" title="Retrieves the 6x6 covariance of the original PDF in .">getOriginalPDFCov3D</a>( <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html">CMatrixDouble</a> &cov6x6 )<span class="keyword"> const </span>{
<a name="l00144"></a>00144 <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble66</a> M;
<a name="l00145"></a>00145 this->getOriginalPDFCov3D(M);
<a name="l00146"></a>00146 cov6x6 = <a class="code" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6" title="Declares a matrix of double numbers (non serializable).">CMatrixDouble</a>(M);
<a name="l00147"></a>00147 }
<a name="l00148"></a>00148
<a name="l00149"></a>00149 }; <span class="comment">// End of class def.</span>
<a name="l00150"></a>00150 } <span class="comment">// End of namespace</span>
<a name="l00151"></a>00151 } <span class="comment">// End of namespace</span>
<a name="l00152"></a>00152
<a name="l00153"></a>00153 <span class="preprocessor">#endif</span>
</pre></div></div>
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