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<div class="title">CPose3DPDFGaussian.h</div> </div>
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<a href="_c_pose3_d_p_d_f_gaussian_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://www.mrpt.org/ |</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 CPose3DPDFGaussian_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CPose3DPDFGaussian_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_pose3_d_p_d_f_8h.html">mrpt/poses/CPose3DPDF.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_pose_p_d_f_8h.html">mrpt/poses/CPosePDF.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_matrix_d_8h.html">mrpt/math/CMatrixD.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">class </span>CPosePDFGaussian;
<a name="l00040"></a>00040 <span class="keyword">class </span>CPose3DQuatPDFGaussian;
<a name="l00041"></a>00041
<a name="l00042"></a><a class="code" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian_ptr.html#ad1de49622a85ae8f17d0f0fee94ee42c">00042</a> <a class="code" href="_c_serializable_8h.html#ab89b7a3de0a1baf5a5af4454add7d0f8" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE</a>( <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose ...">CPose3DPDFGaussian</a> , <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 name="l00043"></a>00043
<a name="l00044"></a>00044 <span class="comment">/** Declares a class that represents a Probability Density function (PDF) of a 3D pose \f$ p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t \f$.</span>
<a name="l00045"></a>00045 <span class="comment"> *</span>
<a name="l00046"></a>00046 <span class="comment"> * This class implements that PDF using a mono-modal Gaussian distribution. See mrpt::poses::CPose3DPDF for more details.</span>
<a name="l00047"></a>00047 <span class="comment"> *</span>
<a name="l00048"></a>00048 <span class="comment"> * Uncertainty of pose composition operations (\f$ y = x \oplus u \f$) is implemented in the method "CPose3DPDFGaussian::operator+=".</span>
<a name="l00049"></a>00049 <span class="comment"> *</span>
<a name="l00050"></a>00050 <span class="comment"> * For further details on implemented methods and the theory behind them,</span>
<a name="l00051"></a>00051 <span class="comment"> * see <a href="http://www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty" >this report</a>.</span>
<a name="l00052"></a>00052 <span class="comment"> *</span>
<a name="l00053"></a>00053 <span class="comment"> * \sa CPose3D, CPose3DPDF, CPose3DPDFParticles</span>
<a name="l00054"></a>00054 <span class="comment"> * \ingroup poses_pdf_grp</span>
<a name="l00055"></a>00055 <span class="comment"> */</span>
<a name="l00056"></a>00056 class <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_pose3_d_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose ...">CPose3DPDFGaussian</a> : public <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 name="l00057"></a>00057 {
<a name="l00058"></a>00058 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00059"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#a57194c6c1c86a95a22d5c682135169c5">00059</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose ...">CPose3DPDFGaussian</a> )
<a name="l00060"></a>00060
<a name="l00061"></a>00061 protected:<span class="comment"></span>
<a name="l00062"></a>00062 <span class="comment"> /** Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)</span>
<a name="l00063"></a>00063 <span class="comment"> */</span>
<a name="l00064"></a>00064 <span class="keywordtype">void</span> assureSymmetry();
<a name="l00065"></a>00065
<a name="l00066"></a>00066 public:<span class="comment"></span>
<a name="l00067"></a>00067 <span class="comment"> /** Default constructor</span>
<a name="l00068"></a>00068 <span class="comment"> */</span>
<a name="l00069"></a>00069 <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose ...">CPose3DPDFGaussian</a>();
<a name="l00070"></a>00070 <span class="comment"></span>
<a name="l00071"></a>00071 <span class="comment"> /** Constructor</span>
<a name="l00072"></a>00072 <span class="comment"> */</span>
<a name="l00073"></a>00073 explicit CPose3DPDFGaussian( const <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> &init_Mean );
<a name="l00074"></a>00074 <span class="comment"></span>
<a name="l00075"></a>00075 <span class="comment"> /** Uninitialized constructor: leave all fields uninitialized - Call with UNINITIALIZED_POSE as argument</span>
<a name="l00076"></a>00076 <span class="comment"> */</span>
<a name="l00077"></a>00077 CPose3DPDFGaussian(<a class="code" href="namespacemrpt_1_1poses.html#ac46e1fb95d438a441b6f396d9c79f430">TConstructorFlags_Poses</a> constructor_dummy_param);
<a name="l00078"></a>00078 <span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /** Constructor */</span>
<a name="l00080"></a>00080 CPose3DPDFGaussian( const <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> &init_Mean, const <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble66</a> &init_Cov );
<a name="l00081"></a>00081 <span class="comment"></span>
<a name="l00082"></a>00082 <span class="comment"> /** Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables z,pitch, and roll).</span>
<a name="l00083"></a>00083 <span class="comment"> */</span>
<a name="l00084"></a>00084 explicit CPose3DPDFGaussian( const <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 2D pose ...">CPosePDFGaussian</a> &o );
<a name="l00085"></a>00085 <span class="comment"></span>
<a name="l00086"></a>00086 <span class="comment"> /** Constructor from a 6D pose PDF described as a Quaternion</span>
<a name="l00087"></a>00087 <span class="comment"> */</span>
<a name="l00088"></a>00088 explicit CPose3DPDFGaussian( const <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion...">CPose3DQuatPDFGaussian</a> &o);
<a name="l00089"></a>00089 <span class="comment"></span>
<a name="l00090"></a>00090 <span class="comment"> /** The mean value</span>
<a name="l00091"></a>00091 <span class="comment"> */</span>
<a name="l00092"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#abee45d2ebffda7957797b18720d0abec">00092</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="eigen__plugins_8h.html#a378ef7ee1218e4aa29b595c6e0f8ee4a" title="Computes the mean of the entire matrix.">mean</a>;
<a name="l00093"></a>00093 <span class="comment"></span>
<a name="l00094"></a>00094 <span class="comment"> /** The 6x6 covariance matrix</span>
<a name="l00095"></a>00095 <span class="comment"> */</span>
<a name="l00096"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#a425a06a63e1c4a14de416369d42fb6d8">00096</a> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble66</a> <a class="code" href="namespacemrpt_1_1math.html#a43f4e051fc574fd75b6800ad4fb25037" title="Computes the covariance matrix from a list of samples in an NxM matrix, where each row is a sample...">cov</a>;
<a name="l00097"></a>00097
<a name="l00098"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#a0e9ead0b25d0fc4f9145e2d322d7c325">00098</a> inline const <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> & getPoseMean()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="eigen__plugins_8h.html#a378ef7ee1218e4aa29b595c6e0f8ee4a" title="Computes the mean of the entire matrix.">mean</a>; }
<a name="l00099"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#a75610fc33d16b2bd26c8e2608dbd4217">00099</a> <span class="keyword">inline</span> <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_pose3_d_p_d_f_gaussian.html#a75610fc33d16b2bd26c8e2608dbd4217">getPoseMean</a>() { <span class="keywordflow">return</span> <a class="code" href="eigen__plugins_8h.html#a378ef7ee1218e4aa29b595c6e0f8ee4a" title="Computes the mean of the entire matrix.">mean</a>; }
<a name="l00100"></a>00100 <span class="comment"></span>
<a name="l00101"></a>00101 <span class="comment"> /** Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).</span>
<a name="l00102"></a>00102 <span class="comment"> * \sa getCovariance</span>
<a name="l00103"></a>00103 <span class="comment"> */</span>
<a name="l00104"></a>00104 <span class="keywordtype">void</span> getMean(<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> &mean_pose) <span class="keyword">const</span>;
<a name="l00105"></a>00105 <span class="comment"></span>
<a name="l00106"></a>00106 <span class="comment"> /** Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once.</span>
<a name="l00107"></a>00107 <span class="comment"> * \sa getMean</span>
<a name="l00108"></a>00108 <span class="comment"> */</span>
<a name="l00109"></a>00109 <span class="keywordtype">void</span> getCovarianceAndMean(<a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble66</a> &<a class="code" href="namespacemrpt_1_1math.html#a43f4e051fc574fd75b6800ad4fb25037" title="Computes the covariance matrix from a list of samples in an NxM matrix, where each row is a sample...">cov</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> &mean_point) <span class="keyword">const</span>;
<a name="l00110"></a>00110 <span class="comment"></span>
<a name="l00111"></a>00111 <span class="comment"> /** Copy operator, translating if necesary (for example, between particles and gaussian representations)</span>
<a name="l00112"></a>00112 <span class="comment"> */</span>
<a name="l00113"></a>00113 <span class="keywordtype">void</span> copyFrom(<span class="keyword">const</span> CPose3DPDF &o);
<a name="l00114"></a>00114 <span class="comment"></span>
<a name="l00115"></a>00115 <span class="comment"> /** Copy operator, translating if necesary (for example, between particles and gaussian representations)</span>
<a name="l00116"></a>00116 <span class="comment"> */</span>
<a name="l00117"></a>00117 <span class="keywordtype">void</span> copyFrom(<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> &o);
<a name="l00118"></a>00118 <span class="comment"></span>
<a name="l00119"></a>00119 <span class="comment"> /** Copy from a 6D pose PDF described as a Quaternion</span>
<a name="l00120"></a>00120 <span class="comment"> */</span>
<a name="l00121"></a>00121 <span class="keywordtype">void</span> copyFrom( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion...">CPose3DQuatPDFGaussian</a> &o);
<a name="l00122"></a>00122
<a name="l00123"></a>00123 <span class="comment"></span>
<a name="l00124"></a>00124 <span class="comment"> /** Save the PDF to a text file, containing the 3D pose in the first line, then the covariance matrix in next 3 lines.</span>
<a name="l00125"></a>00125 <span class="comment"> */</span>
<a name="l00126"></a>00126 <span class="keywordtype">void</span> <a class="code" href="eigen__plugins_8h.html#abea6659e38ab7a50b625ea1a4af3ec72" title="Save matrix to a text file, compatible with MATLAB text format (see also the methods of matrix classe...">saveToTextFile</a>(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &file) <span class="keyword">const</span>;
<a name="l00127"></a>00127 <span class="comment"></span>
<a name="l00128"></a>00128 <span class="comment"> /** This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which</span>
<a name="l00129"></a>00129 <span class="comment"> * "to project" the current pdf. Result PDF substituted the currently stored one in the object.</span>
<a name="l00130"></a>00130 <span class="comment"> */</span>
<a name="l00131"></a>00131 <span class="keywordtype">void</span> changeCoordinatesReference( <span class="keyword">const</span> <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> &newReferenceBase );
<a name="l00132"></a>00132 <span class="comment"></span>
<a name="l00133"></a>00133 <span class="comment"> /** Draws a single sample from the distribution</span>
<a name="l00134"></a>00134 <span class="comment"> */</span>
<a name="l00135"></a>00135 <span class="keywordtype">void</span> drawSingleSample( <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> &outPart ) <span class="keyword">const</span>;
<a name="l00136"></a>00136 <span class="comment"></span>
<a name="l00137"></a>00137 <span class="comment"> /** Draws a number of samples from the distribution, and saves as a list of 1x6 vectors, where each row contains a (x,y,phi) datum.</span>
<a name="l00138"></a>00138 <span class="comment"> */</span>
<a name="l00139"></a>00139 <span class="keywordtype">void</span> drawManySamples( <span class="keywordtype">size_t</span> N, <a class="code" href="classstd_1_1vector.html">std::vector<vector_double></a> & outSamples ) <span class="keyword">const</span>;
<a name="l00140"></a>00140 <span class="comment"></span>
<a name="l00141"></a>00141 <span class="comment"> /** Bayesian fusion of two points gauss. distributions, then save the result in this object.</span>
<a name="l00142"></a>00142 <span class="comment"> * The process is as follows:<br></span>
<a name="l00143"></a>00143 <span class="comment"> * - (x1,S1): Mean and variance of the p1 distribution.</span>
<a name="l00144"></a>00144 <span class="comment"> * - (x2,S2): Mean and variance of the p2 distribution.</span>
<a name="l00145"></a>00145 <span class="comment"> * - (x,S): Mean and variance of the resulting distribution.</span>
<a name="l00146"></a>00146 <span class="comment"> *</span>
<a name="l00147"></a>00147 <span class="comment"> * S = (S1<sup>-1</sup> + S2<sup>-1</sup>)<sup>-1</sup>;</span>
<a name="l00148"></a>00148 <span class="comment"> * x = S * ( S1<sup>-1</sup>*x1 + S2<sup>-1</sup>*x2 );</span>
<a name="l00149"></a>00149 <span class="comment"> */</span>
<a name="l00150"></a>00150 <span class="keywordtype">void</span> bayesianFusion( <span class="keyword">const</span> CPose3DPDF &p1, <span class="keyword">const</span> CPose3DPDF &p2 );
<a name="l00151"></a>00151 <span class="comment"></span>
<a name="l00152"></a>00152 <span class="comment"> /** Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF</span>
<a name="l00153"></a>00153 <span class="comment"> */</span>
<a name="l00154"></a>00154 <span class="keywordtype">void</span> inverse(CPose3DPDF &o) <span class="keyword">const</span>;
<a name="l00155"></a>00155 <span class="comment"></span>
<a name="l00156"></a>00156 <span class="comment"> /** Unary - operator, returns the PDF of the inverse pose. */</span>
<a name="l00157"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#a9c81ea30c5a6aff51a7d3f49e7c86eab">00157</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose ...">CPose3DPDFGaussian</a> <a class="code" href="namespacemrpt_1_1poses.html#a678c1606b35876eae036755599a22d84" title="Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x...">operator -</a>()<span class="keyword"> const</span>
<a name="l00158"></a>00158 <span class="keyword"> </span>{
<a name="l00159"></a>00159 <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose ...">CPose3DPDFGaussian</a> p(<a class="code" href="namespacemrpt_1_1poses.html#ac46e1fb95d438a441b6f396d9c79f430aefbfdff7ad639a9a8019af9de5f3c592">UNINITIALIZED_POSE</a>);
<a name="l00160"></a>00160 this->inverse(p);
<a name="l00161"></a>00161 <span class="keywordflow">return</span> p;
<a name="l00162"></a>00162 }
<a name="l00163"></a>00163
<a name="l00164"></a>00164 <span class="comment"></span>
<a name="l00165"></a>00165 <span class="comment"> /** Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).</span>
<a name="l00166"></a>00166 <span class="comment"> */</span>
<a name="l00167"></a>00167 <span class="keywordtype">void</span> <a class="code" href="group__container__ops__grp.html#ga28127b8dfe78fea7644c4f2a3517cdef" title="a+=b (element-wise sum)">operator += </a>( <span class="keyword">const</span> <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> &Ap);
<a name="l00168"></a>00168 <span class="comment"></span>
<a name="l00169"></a>00169 <span class="comment"> /** Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).</span>
<a name="l00170"></a>00170 <span class="comment"> */</span>
<a name="l00171"></a>00171 <span class="keywordtype">void</span> <a class="code" href="group__container__ops__grp.html#ga28127b8dfe78fea7644c4f2a3517cdef" title="a+=b (element-wise sum)">operator += </a>( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose ...">CPose3DPDFGaussian</a> &Ap);
<a name="l00172"></a>00172 <span class="comment"></span>
<a name="l00173"></a>00173 <span class="comment"> /** Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated).</span>
<a name="l00174"></a>00174 <span class="comment"> */</span>
<a name="l00175"></a>00175 <span class="keywordtype">void</span> operator -= ( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose ...">CPose3DPDFGaussian</a> &Ap);
<a name="l00176"></a>00176 <span class="comment"></span>
<a name="l00177"></a>00177 <span class="comment"> /** Evaluates the PDF at a given point.</span>
<a name="l00178"></a>00178 <span class="comment"> */</span>
<a name="l00179"></a>00179 <span class="keywordtype">double</span> evaluatePDF( <span class="keyword">const</span> <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> &x ) <span class="keyword">const</span>;
<a name="l00180"></a>00180 <span class="comment"></span>
<a name="l00181"></a>00181 <span class="comment"> /** Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].</span>
<a name="l00182"></a>00182 <span class="comment"> */</span>
<a name="l00183"></a>00183 <span class="keywordtype">double</span> evaluateNormalizedPDF( <span class="keyword">const</span> <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> &x ) <span class="keyword">const</span>;
<a name="l00184"></a>00184 <span class="comment"></span>
<a name="l00185"></a>00185 <span class="comment"> /** Computes the Mahalanobis distance between the centers of two Gaussians.</span>
<a name="l00186"></a>00186 <span class="comment"> * The variables with a variance exactly equal to 0 are not taken into account in the process, but</span>
<a name="l00187"></a>00187 <span class="comment"> * "infinity" is returned if the corresponding elements are not exactly equal.</span>
<a name="l00188"></a>00188 <span class="comment"> */</span>
<a name="l00189"></a>00189 <span class="keywordtype">double</span> mahalanobisDistanceTo( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose ...">CPose3DPDFGaussian</a>& theOther);
<a name="l00190"></a>00190 <span class="comment"></span>
<a name="l00191"></a>00191 <span class="comment"> /** This static method computes the pose composition Jacobians.</span>
<a name="l00192"></a>00192 <span class="comment"> *</span>
<a name="l00193"></a>00193 <span class="comment"> * See this techical report: http:///www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty</span>
<a name="l00194"></a>00194 <span class="comment"> *</span>
<a name="l00195"></a>00195 <span class="comment"> * Direct equations (for the covariances) in yaw-pitch-roll are too complex.</span>
<a name="l00196"></a>00196 <span class="comment"> * Make a way around them and consider instead this path:</span>
<a name="l00197"></a>00197 <span class="comment"> * \code</span>
<a name="l00198"></a>00198 <span class="comment"> * X(6D) U(6D)</span>
<a name="l00199"></a>00199 <span class="comment"> * | |</span>
<a name="l00200"></a>00200 <span class="comment"> * v v</span>
<a name="l00201"></a>00201 <span class="comment"> * X(7D) U(7D)</span>
<a name="l00202"></a>00202 <span class="comment"> * | |</span>
<a name="l00203"></a>00203 <span class="comment"> * +--- (+) ---+</span>
<a name="l00204"></a>00204 <span class="comment"> * |</span>
<a name="l00205"></a>00205 <span class="comment"> * v</span>
<a name="l00206"></a>00206 <span class="comment"> * RES(7D)</span>
<a name="l00207"></a>00207 <span class="comment"> * |</span>
<a name="l00208"></a>00208 <span class="comment"> * v</span>
<a name="l00209"></a>00209 <span class="comment"> * RES(6D)</span>
<a name="l00210"></a>00210 <span class="comment"> * \endcode</span>
<a name="l00211"></a>00211 <span class="comment"> *</span>
<a name="l00212"></a>00212 <span class="comment"> */</span>
<a name="l00213"></a>00213 <span class="keyword">static</span> <span class="keywordtype">void</span> jacobiansPoseComposition(
<a name="l00214"></a>00214 <span class="keyword">const</span> <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> &x,
<a name="l00215"></a>00215 <span class="keyword">const</span> <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> &u,
<a name="l00216"></a>00216 <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble66</a> &df_dx,
<a name="l00217"></a>00217 <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble66</a> &df_du);
<a name="l00218"></a>00218
<a name="l00219"></a>00219 <span class="comment"></span>
<a name="l00220"></a>00220 <span class="comment"> /** Returns a 3x3 matrix with submatrix of the covariance for the variables (x,y,yaw) only.</span>
<a name="l00221"></a>00221 <span class="comment"> */</span>
<a name="l00222"></a>00222 <span class="keywordtype">void</span> getCovSubmatrix2D( <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template_numeric.html" title="A matrix of dynamic size.">CMatrixDouble</a> &out_cov ) <span class="keyword">const</span>;
<a name="l00223"></a>00223
<a name="l00224"></a>00224
<a name="l00225"></a>00225 }; <span class="comment">// End of class def.</span>
<a name="l00226"></a>00226
<a name="l00227"></a>00227 <span class="comment"></span>
<a name="l00228"></a>00228 <span class="comment"> /** Pose composition for two 3D pose Gaussians \sa CPose3DPDFGaussian::operator += */</span>
<a name="l00229"></a><a class="code" href="namespacemrpt_1_1poses.html#a6f3efc4b99f83e583b2499b6ad4a8699">00229</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose ...">CPose3DPDFGaussian</a> <a class="code" href="namespacemrpt_1_1poses.html#afb287beee02202a14b09f1011b648e6f" title="Compose a 2D point from a new coordinate base given by a 2D pose.">operator +</a>( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose ...">CPose3DPDFGaussian</a> &x, <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose ...">CPose3DPDFGaussian</a> &u )
<a name="l00230"></a>00230 {
<a name="l00231"></a>00231 <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose ...">CPose3DPDFGaussian</a> res(x);
<a name="l00232"></a>00232 res+=u;
<a name="l00233"></a>00233 <span class="keywordflow">return</span> res;
<a name="l00234"></a>00234 }
<a name="l00235"></a>00235 <span class="comment"></span>
<a name="l00236"></a>00236 <span class="comment"> /** Pose composition for two 3D pose Gaussians \sa CPose3DPDFGaussian::operator -= */</span>
<a name="l00237"></a><a class="code" href="namespacemrpt_1_1poses.html#a8d528175484e280eca99382f1e1d1901">00237</a> <span class="keyword">inline</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose ...">CPose3DPDFGaussian</a> <a class="code" href="namespacemrpt_1_1poses.html#a678c1606b35876eae036755599a22d84" title="Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x...">operator -</a>( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose ...">CPose3DPDFGaussian</a> &x, <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose ...">CPose3DPDFGaussian</a> &u )
<a name="l00238"></a>00238 {
<a name="l00239"></a>00239 <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose ...">CPose3DPDFGaussian</a> res(x);
<a name="l00240"></a>00240 res-=u;
<a name="l00241"></a>00241 <span class="keywordflow">return</span> res;
<a name="l00242"></a>00242 }
<a name="l00243"></a>00243 <span class="comment"></span>
<a name="l00244"></a>00244 <span class="comment"> /** Dumps the mean and covariance matrix to a text stream.</span>
<a name="l00245"></a>00245 <span class="comment"> */</span>
<a name="l00246"></a>00246 std::ostream <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> & <a class="code" href="namespacemrpt_1_1poses.html#aa4247c4d793d20edb770e56f22b286f1" title="Dumps a point as a string [x,y] or [x,y,z].">operator << </a>(<a class="code" href="classstd_1_1ostream.html" title="STL class.">std::ostream</a> & out, <span class="keyword">const</span> CPose3DPDFGaussian& obj);
<a name="l00247"></a>00247
<a name="l00248"></a>00248 <span class="keywordtype">bool</span> <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="namespacemrpt_1_1poses.html#acd8c946fdfab1501027f3a9347181ebf">operator==</a>(<span class="keyword">const</span> CPose3DPDFGaussian &p1,<span class="keyword">const</span> CPose3DPDFGaussian &p2);
<a name="l00249"></a>00249
<a name="l00250"></a>00250 } <span class="comment">// End of namespace</span>
<a name="l00251"></a>00251
<a name="l00252"></a>00252 <span class="comment"></span>
<a name="l00253"></a>00253 <span class="comment"> /** Global variables to change the run-time behaviour of some MRPT classes within mrpt-core.</span>
<a name="l00254"></a>00254 <span class="comment"> * See each variable for the description of what classes it affects.</span>
<a name="l00255"></a>00255 <span class="comment"> */</span>
<a name="l00256"></a><a class="code" href="namespacemrpt_1_1global__settings.html">00256</a> <span class="keyword">namespace </span>global_settings
<a name="l00257"></a>00257 {<span class="comment"></span>
<a name="l00258"></a>00258 <span class="comment"> /** If set to true (false), a Scaled Unscented Transform is used instead of a linear approximation with Jacobians.</span>
<a name="l00259"></a>00259 <span class="comment"> * Affects to:</span>
<a name="l00260"></a>00260 <span class="comment"> * - CPose3DPDFGaussian::CPose3DPDFGaussian( const CPose3DQuatPDFGaussian &o)</span>
<a name="l00261"></a>00261 <span class="comment"> */</span>
<a name="l00262"></a>00262 <span class="keyword">extern</span> <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1global__settings.html#afabaef0653c390a8252cf1d55d00834a" title="If set to true (false), a Scaled Unscented Transform is used instead of a linear approximation with J...">USE_SUT_QUAT2EULER_CONVERSION</a>;
<a name="l00263"></a>00263 }
<a name="l00264"></a>00264
<a name="l00265"></a>00265 } <span class="comment">// End of namespace</span>
<a name="l00266"></a>00266
<a name="l00267"></a>00267 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
