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<div class="title">CPose3DPDFSOG.h</div> </div>
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<a href="_c_pose3_d_p_d_f_s_o_g_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 CPose3DPDFSOG_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CPose3DPDFSOG_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_pose3_d_p_d_f_gaussian_8h.html">mrpt/poses/CPose3DPDFGaussian.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_matrix_8h.html">mrpt/math/CMatrix.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="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00040"></a><a class="code" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g_ptr.html#ad20be5b72d636e1f17d8edc54cfa0c3f">00040</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_s_o_g.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose ...">CPose3DPDFSOG</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="l00041"></a>00041
<a name="l00042"></a>00042 <span class="comment">/** Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose \f$ p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t \f$.</span>
<a name="l00043"></a>00043 <span class="comment"> * This class implements that PDF as the following multi-modal Gaussian distribution:</span>
<a name="l00044"></a>00044 <span class="comment"> *</span>
<a name="l00045"></a>00045 <span class="comment"> * \f$ p(\mathbf{x}) = \sum\limits_{i=1}^N \omega^i \mathcal{N}( \mathbf{x} ; \bar{\mathbf{x}}^i, \mathbf{\Sigma}^i ) \f$</span>
<a name="l00046"></a>00046 <span class="comment"> *</span>
<a name="l00047"></a>00047 <span class="comment"> * Where the number of modes N is the size of CPose3DPDFSOG::m_modes. Angles are always in radians.</span>
<a name="l00048"></a>00048 <span class="comment"> *</span>
<a name="l00049"></a>00049 <span class="comment"> * See mrpt::poses::CPose3DPDF for more details.</span>
<a name="l00050"></a>00050 <span class="comment"> * \ingroup poses_pdf_grp</span>
<a name="l00051"></a>00051 <span class="comment"> * \sa CPose3DPDF</span>
<a name="l00052"></a>00052 <span class="comment"> */</span>
<a name="l00053"></a>00053 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_s_o_g.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose ...">CPose3DPDFSOG</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="l00054"></a>00054 {
<a name="l00055"></a>00055 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00056"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#ab8237591ec3f475db97478638b8ed92f">00056</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_s_o_g.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose ...">CPose3DPDFSOG</a> )
<a name="l00057"></a>00057
<a name="l00058"></a>00058 public:<span class="comment"></span>
<a name="l00059"></a>00059 <span class="comment"> /** The struct for each mode:</span>
<a name="l00060"></a>00060 <span class="comment"> */</span>
<a name="l00061"></a>00061 struct <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g_1_1_t_gaussian_mode.html" title="The struct for each mode:">TGaussianMode</a>
<a name="l00062"></a>00062 {
<a name="l00063"></a><a class="code" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g_1_1_t_gaussian_mode.html#a7c28abd0af2392bb5a1e39897e9804f0">00063</a> TGaussianMode() :
<a name="l00064"></a>00064 val(),
<a name="l00065"></a>00065 log_w(0)
<a name="l00066"></a>00066 { }
<a name="l00067"></a>00067
<a name="l00068"></a><a class="code" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g_1_1_t_gaussian_mode.html#ae3acb277504da67e74b5c58b2b09bba3">00068</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="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g_1_1_t_gaussian_mode.html#ae3acb277504da67e74b5c58b2b09bba3">val</a>;
<a name="l00069"></a>00069 <span class="comment"></span>
<a name="l00070"></a>00070 <span class="comment"> /** The log-weight</span>
<a name="l00071"></a>00071 <span class="comment"> */</span>
<a name="l00072"></a><a class="code" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g_1_1_t_gaussian_mode.html#a57f837ccc3d92c7d6504f4d7e830b866">00072</a> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g_1_1_t_gaussian_mode.html#a57f837ccc3d92c7d6504f4d7e830b866" title="The log-weight.">log_w</a>;
<a name="l00073"></a>00073 };
<a name="l00074"></a>00074
<a name="l00075"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#aaff1e3367ca700eba856a89a60558743">00075</a> <span class="keyword">typedef</span> mrpt<a class="code" href="classstd_1_1vector.html" title="STL class.">::aligned_containers<TGaussianMode>::vector_t</a> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#aaff1e3367ca700eba856a89a60558743">TModesList</a>;
<a name="l00076"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#a6981aeb77e07d115bc72915692f3af84">00076</a> <span class="keyword">typedef</span> TModesList<a class="code" href="classstd_1_1vector_1_1const__iterator.html" title="STL iterator class.">::const_iterator</a> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#a6981aeb77e07d115bc72915692f3af84">const_iterator</a>;
<a name="l00077"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#a361031d0e0afb555a08634214c38097d">00077</a> <span class="keyword">typedef</span> TModesList<a class="code" href="classstd_1_1vector_1_1iterator.html" title="STL iterator class.">::iterator</a> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#a361031d0e0afb555a08634214c38097d">iterator</a>;
<a name="l00078"></a>00078
<a name="l00079"></a>00079 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00080"></a>00080 <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="l00081"></a>00081 <span class="comment"> */</span>
<a name="l00082"></a>00082 <span class="keywordtype">void</span> assureSymmetry();
<a name="l00083"></a>00083 <span class="comment"></span>
<a name="l00084"></a>00084 <span class="comment"> /** Access directly to this array for modify the modes as desired.</span>
<a name="l00085"></a>00085 <span class="comment"> * Note that no weight can be zero!!</span>
<a name="l00086"></a>00086 <span class="comment"> * We must use pointers to satisfy the mem-alignment of the matrixes</span>
<a name="l00087"></a>00087 <span class="comment"> */</span>
<a name="l00088"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#aa44c2a71f103ab9b6eb6ccd482dd012d">00088</a> TModesList <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#aa44c2a71f103ab9b6eb6ccd482dd012d" title="Access directly to this array for modify the modes as desired.">m_modes</a>;
<a name="l00089"></a>00089
<a name="l00090"></a>00090 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00091"></a>00091 <span class="comment"> /** Default constructor</span>
<a name="l00092"></a>00092 <span class="comment"> * \param nModes The initial size of CPose3DPDFSOG::m_modes</span>
<a name="l00093"></a>00093 <span class="comment"> */</span>
<a name="l00094"></a>00094 <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose ...">CPose3DPDFSOG</a>( <span class="keywordtype">size_t</span> nModes = 1 );
<a name="l00095"></a>00095
<a name="l00096"></a>00096 <span class="keywordtype">void</span> clear(); <span class="comment">//!< Clear all the gaussian modes</span>
<a name="l00097"></a>00097 <span class="comment"></span> <span class="keywordtype">void</span> resize(<span class="keyword">const</span> <span class="keywordtype">size_t</span> N); <span class="comment">//!< Set the number of SOG modes</span>
<a name="l00098"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#a48e21330e122a16ccae632b64a0f5c01">00098</a> <span class="comment"></span> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#a48e21330e122a16ccae632b64a0f5c01" title="Return the number of Gaussian modes.">size</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_modes.size(); } <span class="comment">//!< Return the number of Gaussian modes.</span>
<a name="l00099"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#a5aa4a1fee030417392fd226920a458e9">00099</a> <span class="comment"></span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#a5aa4a1fee030417392fd226920a458e9" title="Return whether there is any Gaussian mode.">empty</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_modes.empty(); } <span class="comment">//!< Return whether there is any Gaussian mode.</span>
<a name="l00100"></a>00100 <span class="comment"></span>
<a name="l00101"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#a097a97d353f2b7fcaf9ffdd8f64cdf85">00101</a> iterator <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#a097a97d353f2b7fcaf9ffdd8f64cdf85">begin</a>() { <span class="keywordflow">return</span> m_modes.begin(); }
<a name="l00102"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#a14524f35be95683bcdc46adc9c40cc69">00102</a> iterator <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#a14524f35be95683bcdc46adc9c40cc69">end</a>() { <span class="keywordflow">return</span> m_modes.end(); }
<a name="l00103"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#a901810069e78e37730d309401120a637">00103</a> const_iterator <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#a901810069e78e37730d309401120a637">begin</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_modes.begin(); }
<a name="l00104"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#a10bbd662d917beb37069689bf457c7fa">00104</a> const_iterator <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#a10bbd662d917beb37069689bf457c7fa">end</a>()<span class="keyword">const </span>{ <span class="keywordflow">return</span> m_modes.end(); }
<a name="l00105"></a>00105 <span class="comment"></span>
<a name="l00106"></a>00106 <span class="comment"> /** Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed as a weighted average over all m_particles.</span>
<a name="l00107"></a>00107 <span class="comment"> * \sa getCovariance</span>
<a name="l00108"></a>00108 <span class="comment"> */</span>
<a name="l00109"></a>00109 <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="l00110"></a>00110 <span class="comment"></span>
<a name="l00111"></a>00111 <span class="comment"> /** Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once.</span>
<a name="l00112"></a>00112 <span class="comment"> * \sa getMean</span>
<a name="l00113"></a>00113 <span class="comment"> */</span>
<a name="l00114"></a>00114 <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="l00115"></a>00115 <span class="comment"></span>
<a name="l00116"></a>00116 <span class="comment"> /** Normalize the weights in m_modes such as the maximum log-weight is 0.</span>
<a name="l00117"></a>00117 <span class="comment"> */</span>
<a name="l00118"></a>00118 <span class="keywordtype">void</span> normalizeWeights();
<a name="l00119"></a>00119 <span class="comment"></span>
<a name="l00120"></a>00120 <span class="comment"> /** Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG) */</span>
<a name="l00121"></a>00121 <span class="keywordtype">void</span> getMostLikelyMode( <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>& outVal ) <span class="keyword">const</span>;
<a name="l00122"></a>00122 <span class="comment"></span>
<a name="l00123"></a>00123 <span class="comment"> /** Copy operator, translating if necesary (for example, between particles and gaussian representations)</span>
<a name="l00124"></a>00124 <span class="comment"> */</span>
<a name="l00125"></a>00125 <span class="keywordtype">void</span> copyFrom(<span class="keyword">const</span> CPose3DPDF &o);
<a name="l00126"></a>00126 <span class="comment"></span>
<a name="l00127"></a>00127 <span class="comment"> /** Save the density to a text file, with the following format:</span>
<a name="l00128"></a>00128 <span class="comment"> * There is one row per Gaussian "mode", and each row contains 10 elements:</span>
<a name="l00129"></a>00129 <span class="comment"> * - w (The linear weight)</span>
<a name="l00130"></a>00130 <span class="comment"> * - x_mean (gaussian mean value)</span>
<a name="l00131"></a>00131 <span class="comment"> * - y_mean (gaussian mean value)</span>
<a name="l00132"></a>00132 <span class="comment"> * - x_mean (gaussian mean value)</span>
<a name="l00133"></a>00133 <span class="comment"> * - yaw_mean (gaussian mean value, in radians)</span>
<a name="l00134"></a>00134 <span class="comment"> * - pitch_mean (gaussian mean value, in radians)</span>
<a name="l00135"></a>00135 <span class="comment"> * - roll_mean (gaussian mean value, in radians)</span>
<a name="l00136"></a>00136 <span class="comment"> * - C11,C22,C33,C44,C55,C66 (Covariance elements)</span>
<a name="l00137"></a>00137 <span class="comment"> * - C12,C13,C14,C15,C16 (Covariance elements)</span>
<a name="l00138"></a>00138 <span class="comment"> * - C23,C24,C25,C25 (Covariance elements)</span>
<a name="l00139"></a>00139 <span class="comment"> * - C34,C35,C36 (Covariance elements)</span>
<a name="l00140"></a>00140 <span class="comment"> * - C45,C46 (Covariance elements)</span>
<a name="l00141"></a>00141 <span class="comment"> * - C56 (Covariance elements)</span>
<a name="l00142"></a>00142 <span class="comment"> *</span>
<a name="l00143"></a>00143 <span class="comment"> */</span>
<a name="l00144"></a>00144 <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="l00145"></a>00145 <span class="comment"></span>
<a name="l00146"></a>00146 <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="l00147"></a>00147 <span class="comment"> * "to project" the current pdf. Result PDF substituted the currently stored one in the object.</span>
<a name="l00148"></a>00148 <span class="comment"> */</span>
<a name="l00149"></a>00149 <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="l00150"></a>00150 <span class="comment"></span>
<a name="l00151"></a>00151 <span class="comment"> /** Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPose3DPDFSOG object and p2 a mrpt::poses::CPose3DPDFSOG object)</span>
<a name="l00152"></a>00152 <span class="comment"> */</span>
<a name="l00153"></a>00153 <span class="keywordtype">void</span> bayesianFusion( <span class="keyword">const</span> CPose3DPDF &p1,<span class="keyword">const</span> CPose3DPDF &p2 );
<a name="l00154"></a>00154 <span class="comment"></span>
<a name="l00155"></a>00155 <span class="comment"> /** Draws a single sample from the distribution</span>
<a name="l00156"></a>00156 <span class="comment"> */</span>
<a name="l00157"></a>00157 <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="l00158"></a>00158 <span class="comment"></span>
<a name="l00159"></a>00159 <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,z,yaw,pitch,roll) datum.</span>
<a name="l00160"></a>00160 <span class="comment"> */</span>
<a name="l00161"></a>00161 <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="l00162"></a>00162 <span class="comment"></span>
<a name="l00163"></a>00163 <span class="comment"> /** Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF</span>
<a name="l00164"></a>00164 <span class="comment"> */</span>
<a name="l00165"></a>00165 <span class="keywordtype">void</span> inverse(CPose3DPDF &o) <span class="keyword">const</span>;
<a name="l00166"></a>00166 <span class="comment"></span>
<a name="l00167"></a>00167 <span class="comment"> /** Append the Gaussian modes from "o" to the current set of modes of "this" density.</span>
<a name="l00168"></a>00168 <span class="comment"> */</span>
<a name="l00169"></a>00169 <span class="keywordtype">void</span> appendFrom( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose ...">CPose3DPDFSOG</a> &o );
<a name="l00170"></a>00170
<a name="l00171"></a>00171 }; <span class="comment">// End of class def.</span>
<a name="l00172"></a>00172
<a name="l00173"></a>00173
<a name="l00174"></a>00174 } <span class="comment">// End of namespace</span>
<a name="l00175"></a>00175 } <span class="comment">// End of namespace</span>
<a name="l00176"></a>00176
<a name="l00177"></a>00177 <span class="preprocessor">#endif</span>
</pre></div></div>
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