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<li class="navelem"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html">CPointPDFParticles</a> </li>
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<a href="#pub-types">Public Types</a> |
<a href="#pub-methods">Public Member Functions</a> |
<a href="#pub-static-methods">Static Public Member Functions</a> |
<a href="#pub-attribs">Public Attributes</a> |
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<div class="title">mrpt::poses::CPointPDFParticles Class Reference<div class="ingroups"><a class="el" href="group__poses__pdf__grp.html">2D/3D point and pose PDFs</a></div></div> </div>
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<!-- doxytag: class="mrpt::poses::CPointPDFParticles" --><!-- doxytag: inherits="mrpt::poses::CPointPDF,CParticleFilterData< TSimple3DPoint >" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A probability distribution of a 2D/3D point, represented as a set of random samples (particles). </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html" title="Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x...">CPointPDF</a> </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_point_p_d_f_particles_8h_source.html">mrpt/poses/CPointPDFParticles.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::poses::CPointPDFParticles:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1poses_1_1_c_point_p_d_f_particles__inherit__graph.png" border="0" usemap="#mrpt_1_1poses_1_1_c_point_p_d_f_particles_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1poses_1_1_c_point_p_d_f_particles_inherit__map" id="mrpt_1_1poses_1_1_c_point_p_d_f_particles_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html" title="Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x..." alt="" coords="1018,56,1185,83"/><area shape="rect" id="node4" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT..." alt="" coords="504,5,669,32"/><area shape="rect" id="node6" href="classmrpt_1_1utils_1_1_c_object.html" title="The virtual base class of all MRPT classes with a unified RTTI system." alt="" coords="65,5,201,32"/><area shape="rect" id="node8" href="classmrpt_1_1utils_1_1_c_probability_density_function.html" title="mrpt::utils::CProbabilityDensityFunction\< CPoint3D, 3 \>" alt="" coords="411,56,762,83"/><area shape="rect" id="node10" href="classmrpt_1_1utils_1_1_c_probability_density_function.html" title="A generic template for probability density distributions (PDFs)." alt="" coords="6,56,261,83"/><area shape="rect" id="node12" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html" title="mrpt::bayes::CParticleFilterData\< TSimple3DPoint \>" alt="" coords="937,107,1266,133"/><area shape="rect" id="node14" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html" title="This template class declares the array of particles and its internal data, managing some memory-relat..." alt="" coords="481,107,692,133"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#adc2cdea527fa36d391c678e4485e3a1fa5dd6916895ffef4491f202f8d6839bb1">is_3D_val</a> = 1
}</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#a863a1bda75e5bd233aaa2219eaa7a22cad0cefc23184600ef2ce537e641938598">is_PDF_val</a> = 1
}</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef TDATA </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#ab4d442c6713a2aaac04cf79bee93c251">type_value</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The type of the state the PDF represents. <a href="#ab4d442c6713a2aaac04cf79bee93c251"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef T </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a95d1ef05087b7dc214aa7d8550a69e2b">CParticleDataContent</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This is the type inside the corresponding CParticleData class. <a href="#a95d1ef05087b7dc214aa7d8550a69e2b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1bayes_1_1_c_probability_particle.html">CProbabilityParticle</a>< T > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a9a69200b93ad7b3c528362d3c1a35ea4">CParticleData</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Use this to refer to each element in the m_particles array. <a href="#a9a69200b93ad7b3c528362d3c1a35ea4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1deque.html">std::deque</a>< <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a9a69200b93ad7b3c528362d3c1a35ea4">CParticleData</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a455efc0962577f042b38590f36583537">CParticleList</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Use this type to refer to the list of particles m_particles. <a href="#a455efc0962577f042b38590f36583537"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#add1c0feb8a1afe0e1701dfac3accb7e0">IMPLEMENT_PARTICLE_FILTER_CAPABLE</a> (<a class="el" href="classmrpt_1_1poses_1_1_t_simple3_d_point.html">TSimple3DPoint</a>)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#aac01f6e2fa097710330db9c348eb854a">CPointPDFParticles</a> (size_t numParticles=1)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor. <a href="#aac01f6e2fa097710330db9c348eb854a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#a0ff2a79a52cca761acbecfa7129822b7">~CPointPDFParticles</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a0ff2a79a52cca761acbecfa7129822b7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#a016e214faabb79b8a3741b62564f184b">clear</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Clear all the particles (free memory) <a href="#a016e214faabb79b8a3741b62564f184b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#aed1a2b3a0457ba6f4187598d5fa29d03">setSize</a> (size_t numberParticles, const <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> &defaultValue=<a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a>(0, 0, 0))</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Erase all the previous particles and change the number of particles, with a given initial value. <a href="#aed1a2b3a0457ba6f4187598d5fa29d03"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#ad9ce639ddc78bd1bf08b89613dda8b78">size</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the number of particles. <a href="#ad9ce639ddc78bd1bf08b89613dda8b78"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#a188d9ffba95a2d9486ce8f1451d6fa4f">getMean</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> &mean_point) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an estimate of the point, (the mean, or mathematical expectation of the PDF). <a href="#a188d9ffba95a2d9486ce8f1451d6fa4f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#a42a8f7d3a63e02fa5814ca8321c04c42">getCovarianceAndMean</a> (<a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> &cov, <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> &mean_point) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an estimate of the point covariance matrix (3x3 cov matrix) and the mean, both at once. <a href="#a42a8f7d3a63e02fa5814ca8321c04c42"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#a64a9f4990dfc578f454b23af04b0dd2b">copyFrom</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html">CPointPDF</a> &o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Copy operator, translating if necesary (for example, between particles and gaussian representations) <a href="#a64a9f4990dfc578f454b23af04b0dd2b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#ad74270e1cf6072787418f032ed71e080">saveToTextFile</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &file) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save PDF's particles to a text file, where each line is: X Y Z LOG_W. <a href="#ad74270e1cf6072787418f032ed71e080"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#a86e0e701cfbfa3fd5b3d80e7586131a1">changeCoordinatesReference</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &newReferenceBase)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. <a href="#a86e0e701cfbfa3fd5b3d80e7586131a1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#a377e3eaa2dcde22a88bf76ab40d902fe">computeKurtosis</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Compute the kurtosis of the distribution. <a href="#a377e3eaa2dcde22a88bf76ab40d902fe"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#ab89f42729926a69aafbc769f0e756ca8">drawSingleSample</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> &outSample) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draw a sample from the pdf. <a href="#ab89f42729926a69aafbc769f0e756ca8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#a06073d82dce1dbd4e3bc44b17347a1c7">bayesianFusion</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html">CPointPDF</a> &p1, const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html">CPointPDF</a> &p2, const double &minMahalanobisDistToDrop=0)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!) <a href="#a06073d82dce1dbd4e3bc44b17347a1c7"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class OPENGL_SETOFOBJECTSPTR > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#ac8a691da1b29b401d4440d173e25f7a8">getAs3DObject</a> (OPENGL_SETOFOBJECTSPTR &out_obj) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a 3D representation of this PDF. <a href="#ac8a691da1b29b401d4440d173e25f7a8"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class OPENGL_SETOFOBJECTSPTR , class OPENGL_SETOFOBJECTS > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">OPENGL_SETOFOBJECTSPTR </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#afe846555a245630e84314f1a32ee79cb">getAs3DObject</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a 3D representation of this PDF. <a href="#afe846555a245630e84314f1a32ee79cb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a534695890364f4b916bba07dad311bcf">duplicateGetSmartPtr</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). <a href="#a534695890364f4b916bba07dad311bcf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a9ef7857a0b36059c078e195a0a65ac00">clone</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cloning interface for smart pointers. <a href="#a9ef7857a0b36059c078e195a0a65ac00"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#afc168fcbcba4191a0e64fc2a3b7c4c78">getMean</a> (TDATA &mean_point) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the mean, or mathematical expectation of the probability density distribution (PDF). <a href="#afc168fcbcba4191a0e64fc2a3b7c4c78"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aef4a7a5d215e4c7e855286ad4a4d1bbe">getCovarianceAndMean</a> (<a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, STATE_LEN, STATE_LEN > &cov, TDATA &mean_point) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. <a href="#aef4a7a5d215e4c7e855286ad4a4d1bbe"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a8a5db2a590d8fcd23408a3d8a8a1f76c">getCovarianceDynAndMean</a> (<a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> &cov, TDATA &mean_point) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. <a href="#a8a5db2a590d8fcd23408a3d8a8a1f76c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">TDATA </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#ad6c0c9844ac63db9c793652e4619c549">getMeanVal</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the mean, or mathematical expectation of the probability density distribution (PDF). <a href="#ad6c0c9844ac63db9c793652e4619c549"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a76a1c94c45614ec2ab8f4b209d126745">getCovariance</a> (<a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> &cov) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) <a href="#a76a1c94c45614ec2ab8f4b209d126745"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a9ac7187b742c121c3338cb767b7994ba">getCovariance</a> (<a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, STATE_LEN, STATE_LEN > &cov) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) <a href="#a9ac7187b742c121c3338cb767b7994ba"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, <br class="typebreak"/>
STATE_LEN, STATE_LEN > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a689312caf79ee5268fa913e3fa5c82c0">getCovariance</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) <a href="#a689312caf79ee5268fa913e3fa5c82c0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#ae8879d10e9d7a6c94211dd0ffffc4c9d">drawSingleSample</a> (TDATA &outPart) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draws a single sample from the distribution. <a href="#ae8879d10e9d7a6c94211dd0ffffc4c9d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aa437cf2c11cb0e937e851a0f498a4fb2">drawManySamples</a> (size_t N, <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> > &outSamples) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. <a href="#aa437cf2c11cb0e937e851a0f498a4fb2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a311648912f182acf9fc0896208492216">getCovarianceEntropy</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Compute the entropy of the estimated covariance matrix. <a href="#a311648912f182acf9fc0896208492216"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#aec1870d0f4607da2c6cb83c4325005a9">clearParticles</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Free the memory of all the particles and reset the array "m_particles" to length zero. <a href="#aec1870d0f4607da2c6cb83c4325005a9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#ac5571368ccef88d4c205b43b9f6d630d">writeParticlesToStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">utils::CStream</a> &out) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable). <a href="#ac5571368ccef88d4c205b43b9f6d630d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#ad32e2f80aeab31b21184d7e1bde687bc">readParticlesFromStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">utils::CStream</a> &in)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable). <a href="#ad32e2f80aeab31b21184d7e1bde687bc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a1197013292ffd4af22c539cac3304263">getWeights</a> (<a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> &out_logWeights) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a vector with the sequence of the logaritmic weights of all the samples. <a href="#a1197013292ffd4af22c539cac3304263"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a9a69200b93ad7b3c528362d3c1a35ea4">CParticleData</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a814fc6f819c7e213c036467c14fbba66">getMostLikelyParticle</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the particle with the highest weight. <a href="#a814fc6f819c7e213c036467c14fbba66"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#ae1aece8c459ffd8eab83ea191791a7e2">is_3D</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#affffb868a8f2d8e928b7e8d8cad73594">is_PDF</a> ()</td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a455efc0962577f042b38590f36583537">CParticleList</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#af8bb2dfdacf54929213c8f905cdec000">m_particles</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The array of particles. <a href="#af8bb2dfdacf54929213c8f905cdec000"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-attribs"></a>
Static Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">classCObject</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a77a06347b68aa3c08de63c790d88eb12">state_length</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). <a href="#a77a06347b68aa3c08de63c790d88eb12"></a><br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">RTTI stuff</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">classCSerializable</a></td></tr>
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Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a0b6b801e67bca3d8e0d355e7035f8013">writeToStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &out, int *getVersion) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. <a href="#a0b6b801e67bca3d8e0d355e7035f8013"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a73ba83035a64939cdc3aa1c0dfed23ec">readFromStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, int version)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. <a href="#a73ba83035a64939cdc3aa1c0dfed23ec"></a><br/></td></tr>
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RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#a837349901839932fb122a36074583dcb">classCPointPDF</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::utils::CStream</a></td></tr>
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RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1poses_1_1_c_point_p_d_f_particles_ptr.html">CPointPDFParticlesPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#ae7ccdbde07b79bdae86294b69090a190">SmartPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html">mrpt::utils::CLASSINIT</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#ae41ccb0f404fc003a44b508e7dd451bb">_init_CPointPDFParticles</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#a89eb6386efef52051945f14239aafd69">classCPointPDFParticles</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#a4c8fd0e63d5d07f4665fcf18aabfda68">classinfo</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#a65fdf2fcf97a24cc44e4e95db7940ab6">_GetBaseClass</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#a3dd21821bf7062960d7ecd2b9be679ba">GetRuntimeClass</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns information about the class of an object in runtime. <a href="#a3dd21821bf7062960d7ecd2b9be679ba"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#a7f571259a8c4934b39b51c1810c6953d">duplicate</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class. <a href="#a7f571259a8c4934b39b51c1810c6953d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#a0017f793afcbe73d256db2f0818b8c71">CreateObject</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1poses_1_1_c_point_p_d_f_particles_ptr.html">CPointPDFParticlesPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#a139e73869e33c564dd0d47bfd8f5476a">Create</a> ()</td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a9a69200b93ad7b3c528362d3c1a35ea4"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::CParticleData" ref="a9a69200b93ad7b3c528362d3c1a35ea4" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1bayes_1_1_c_probability_particle.html">CProbabilityParticle</a><T> <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a9a69200b93ad7b3c528362d3c1a35ea4">mrpt::bayes::CParticleFilterData::CParticleData</a><code> [inherited]</code></td>
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<p>Use this to refer to each element in the m_particles array. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00061">61</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="a95d1ef05087b7dc214aa7d8550a69e2b"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::CParticleDataContent" ref="a95d1ef05087b7dc214aa7d8550a69e2b" args="" -->
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<td class="memname">typedef T <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a95d1ef05087b7dc214aa7d8550a69e2b">mrpt::bayes::CParticleFilterData::CParticleDataContent</a><code> [inherited]</code></td>
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<p>This is the type inside the corresponding CParticleData class. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00060">60</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="a455efc0962577f042b38590f36583537"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::CParticleList" ref="a455efc0962577f042b38590f36583537" args="" -->
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<td class="memname">typedef <a class="el" href="classstd_1_1deque.html">std::deque</a><<a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a9a69200b93ad7b3c528362d3c1a35ea4">CParticleData</a>> <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a455efc0962577f042b38590f36583537">mrpt::bayes::CParticleFilterData::CParticleList</a><code> [inherited]</code></td>
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<p>Use this type to refer to the list of particles m_particles. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00062">62</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="ae7ccdbde07b79bdae86294b69090a190"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::SmartPtr" ref="ae7ccdbde07b79bdae86294b69090a190" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1poses_1_1_c_point_p_d_f_particles_ptr.html">CPointPDFParticlesPtr</a> <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#ae7ccdbde07b79bdae86294b69090a190">mrpt::poses::CPointPDFParticles::SmartPtr</a></td>
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<p>A typedef for the associated smart pointer </p>
<p>Definition at line <a class="el" href="_c_point_p_d_f_particles_8h_source.html#l00074">74</a> of file <a class="el" href="_c_point_p_d_f_particles_8h_source.html">CPointPDFParticles.h</a>.</p>
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<a class="anchor" id="ab4d442c6713a2aaac04cf79bee93c251"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::type_value" ref="ab4d442c6713a2aaac04cf79bee93c251" args="" -->
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<td class="memname">typedef TDATA <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#ab4d442c6713a2aaac04cf79bee93c251">mrpt::utils::CProbabilityDensityFunction::type_value</a><code> [inherited]</code></td>
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<p>The type of the state the PDF represents. </p>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00054">54</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
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<hr/><h2>Member Enumeration Documentation</h2>
<a class="anchor" id="adc2cdea527fa36d391c678e4485e3a1f"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::@17" ref="adc2cdea527fa36d391c678e4485e3a1f" args="" -->
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<td class="memname">anonymous enum<code> [inherited]</code></td>
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<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="adc2cdea527fa36d391c678e4485e3a1fa5dd6916895ffef4491f202f8d6839bb1"></a><!-- doxytag: member="is_3D_val" ref="adc2cdea527fa36d391c678e4485e3a1fa5dd6916895ffef4491f202f8d6839bb1" args="" -->is_3D_val</em> </td><td>
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</dd>
</dl>
<p>Definition at line <a class="el" href="_c_point_p_d_f_8h_source.html#l00078">78</a> of file <a class="el" href="_c_point_p_d_f_8h_source.html">CPointPDF.h</a>.</p>
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<a class="anchor" id="a863a1bda75e5bd233aaa2219eaa7a22c"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::@18" ref="a863a1bda75e5bd233aaa2219eaa7a22c" args="" -->
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<td class="memname">anonymous enum<code> [inherited]</code></td>
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<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a863a1bda75e5bd233aaa2219eaa7a22cad0cefc23184600ef2ce537e641938598"></a><!-- doxytag: member="is_PDF_val" ref="a863a1bda75e5bd233aaa2219eaa7a22cad0cefc23184600ef2ce537e641938598" args="" -->is_PDF_val</em> </td><td>
</td></tr>
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</dd>
</dl>
<p>Definition at line <a class="el" href="_c_point_p_d_f_8h_source.html#l00080">80</a> of file <a class="el" href="_c_point_p_d_f_8h_source.html">CPointPDF.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="aac01f6e2fa097710330db9c348eb854a"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::CPointPDFParticles" ref="aac01f6e2fa097710330db9c348eb854a" args="(size_t numParticles=1)" -->
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<td class="memname">mrpt::poses::CPointPDFParticles::CPointPDFParticles </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>numParticles</em> = <code>1</code></td><td>)</td>
<td></td>
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<p>Default constructor. </p>
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<a class="anchor" id="a0ff2a79a52cca761acbecfa7129822b7"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::~CPointPDFParticles" ref="a0ff2a79a52cca761acbecfa7129822b7" args="()" -->
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<td class="memname">virtual mrpt::poses::CPointPDFParticles::~CPointPDFParticles </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Destructor. </p>
</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a65fdf2fcf97a24cc44e4e95db7940ab6"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::_GetBaseClass" ref="a65fdf2fcf97a24cc44e4e95db7940ab6" args="()" -->
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<td class="memname">static const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::poses::CPointPDFParticles::_GetBaseClass </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static, protected]</code></td>
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<p>Reimplemented from <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#a7ef50e03fcc75c1a10320875609d2a41">mrpt::poses::CPointPDF</a>.</p>
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<a class="anchor" id="a06073d82dce1dbd4e3bc44b17347a1c7"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::bayesianFusion" ref="a06073d82dce1dbd4e3bc44b17347a1c7" args="(const CPointPDF &p1, const CPointPDF &p2, const double &minMahalanobisDistToDrop=0)" -->
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<td class="memname">void mrpt::poses::CPointPDFParticles::bayesianFusion </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html">CPointPDF</a> & </td>
<td class="paramname"><em>p1</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html">CPointPDF</a> & </td>
<td class="paramname"><em>p2</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const double & </td>
<td class="paramname"><em>minMahalanobisDistToDrop</em> = <code>0</code> </td>
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<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
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<p>Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!) </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">p1</td><td>The first distribution to fuse </td></tr>
<tr><td class="paramname">p2</td><td>The second distribution to fuse </td></tr>
<tr><td class="paramname">minMahalanobisDistToDrop</td><td>If set to different of 0, the result of very separate Gaussian modes (that will result in negligible components) in SOGs will be dropped to reduce the number of modes in the output. </td></tr>
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</dd>
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<p>Implements <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#a065f29ccaa7c5a698a8abd1eed356789">mrpt::poses::CPointPDF</a>.</p>
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<a class="anchor" id="a86e0e701cfbfa3fd5b3d80e7586131a1"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::changeCoordinatesReference" ref="a86e0e701cfbfa3fd5b3d80e7586131a1" args="(const CPose3D &newReferenceBase)" -->
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<td class="memname">void mrpt::poses::CPointPDFParticles::changeCoordinatesReference </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"><em>newReferenceBase</em></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. </p>
<p>Result PDF substituted the currently stored one in the object. Both the mean value and the covariance matrix are updated correctly. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aac79fa433163e2ffe0cb3c12d02e61ba">mrpt::utils::CProbabilityDensityFunction< CPoint3D, 3 ></a>.</p>
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<a class="anchor" id="a016e214faabb79b8a3741b62564f184b"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::clear" ref="a016e214faabb79b8a3741b62564f184b" args="()" -->
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<td class="memname">void mrpt::poses::CPointPDFParticles::clear </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Clear all the particles (free memory) </p>
<p>Definition at line <a class="el" href="_c_point_p_d_f_particles_8h_source.html#l00090">90</a> of file <a class="el" href="_c_point_p_d_f_particles_8h_source.html">CPointPDFParticles.h</a>.</p>
<p>References <a class="el" href="eigen__plugins_8h_source.html#l00300">setSize()</a>.</p>
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<td class="memname">void mrpt::bayes::CParticleFilterData::clearParticles </td>
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<td><code> [inline, inherited]</code></td>
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<p>Free the memory of all the particles and reset the array "m_particles" to length zero. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00072">72</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="a9ef7857a0b36059c078e195a0a65ac00"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::clone" ref="a9ef7857a0b36059c078e195a0a65ac00" args="() const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a>* mrpt::utils::CObject::clone </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Cloning interface for smart pointers. </p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable.html#acb2597d6d93b406501d9f3530eb56adf">mrpt::opengl::CRenderizable</a>, and <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#ac164cb1d2cf682778ce52967cbd56469">mrpt::opengl::CRenderizableDisplayList</a>.</p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00154">154</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="a377e3eaa2dcde22a88bf76ab40d902fe"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::computeKurtosis" ref="a377e3eaa2dcde22a88bf76ab40d902fe" args="()" -->
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<td class="memname">double mrpt::poses::CPointPDFParticles::computeKurtosis </td>
<td>(</td>
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<p>Compute the kurtosis of the distribution. </p>
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<a class="anchor" id="a64a9f4990dfc578f454b23af04b0dd2b"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::copyFrom" ref="a64a9f4990dfc578f454b23af04b0dd2b" args="(const CPointPDF &o)" -->
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<td class="memname">void mrpt::poses::CPointPDFParticles::copyFrom </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html">CPointPDF</a> & </td>
<td class="paramname"><em>o</em></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Copy operator, translating if necesary (for example, between particles and gaussian representations) </p>
<p>Implements <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#a979b682b56588533c637e56fe18c1064">mrpt::poses::CPointPDF</a>.</p>
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<a class="anchor" id="a139e73869e33c564dd0d47bfd8f5476a"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::Create" ref="a139e73869e33c564dd0d47bfd8f5476a" args="()" -->
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<td class="memname">static <a class="el" href="structmrpt_1_1poses_1_1_c_point_p_d_f_particles_ptr.html">CPointPDFParticlesPtr</a> mrpt::poses::CPointPDFParticles::Create </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static]</code></td>
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<a class="anchor" id="a0017f793afcbe73d256db2f0818b8c71"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::CreateObject" ref="a0017f793afcbe73d256db2f0818b8c71" args="()" -->
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<td class="memname">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::poses::CPointPDFParticles::CreateObject </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static]</code></td>
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<a class="anchor" id="aa437cf2c11cb0e937e851a0f498a4fb2"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::drawManySamples" ref="aa437cf2c11cb0e937e851a0f498a4fb2" args="(size_t N, std::vector< vector_double > &outSamples) const " -->
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<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::drawManySamples </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>N</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> > & </td>
<td class="paramname"><em>outSamples</em> </td>
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<p>Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. </p>
<p>This base method just call N times to drawSingleSample, but derived classes should implemented optimized method for each particular PDF. </p>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00126">126</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
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<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::drawSingleSample </td>
<td>(</td>
<td class="paramtype">TDATA & </td>
<td class="paramname"><em>outPart</em></td><td>)</td>
<td> const<code> [pure virtual, inherited]</code></td>
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<p>Draws a single sample from the distribution. </p>
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<a class="anchor" id="ab89f42729926a69aafbc769f0e756ca8"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::drawSingleSample" ref="ab89f42729926a69aafbc769f0e756ca8" args="(CPoint3D &outSample) const " -->
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<td class="memname">void mrpt::poses::CPointPDFParticles::drawSingleSample </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> & </td>
<td class="paramname"><em>outSample</em></td><td>)</td>
<td> const</td>
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<p>Draw a sample from the pdf. </p>
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<td class="memname">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::poses::CPointPDFParticles::duplicate </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [virtual]</code></td>
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<p>Returns a copy of the object, indepently of its class. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#aa1070e173c5f7e307b09c53f1fd256e2">mrpt::utils::CObject</a>.</p>
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<a class="anchor" id="a534695890364f4b916bba07dad311bcf"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::duplicateGetSmartPtr" ref="a534695890364f4b916bba07dad311bcf" args="() const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> mrpt::utils::CObject::duplicateGetSmartPtr </td>
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<p>Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). </p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00151">151</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="ac8a691da1b29b401d4440d173e25f7a8"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::getAs3DObject" ref="ac8a691da1b29b401d4440d173e25f7a8" args="(OPENGL_SETOFOBJECTSPTR &out_obj) const " -->
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<td class="memname">void mrpt::poses::CPointPDF::getAs3DObject </td>
<td>(</td>
<td class="paramtype">OPENGL_SETOFOBJECTSPTR & </td>
<td class="paramname"><em>out_obj</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Returns a 3D representation of this PDF. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>Needs the mrpt-opengl library, and using <a class="el" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">mrpt::opengl::CSetOfObjectsPtr</a> as template argument. </dd></dl>
<p>Definition at line <a class="el" href="_c_point_p_d_f_8h_source.html#l00087">87</a> of file <a class="el" href="_c_point_p_d_f_8h_source.html">CPointPDF.h</a>.</p>
<p>References <a class="el" href="pose__pdfs_8h_source.html#l00042">mrpt::opengl::posePDF2opengl()</a>.</p>
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<a class="anchor" id="afe846555a245630e84314f1a32ee79cb"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::getAs3DObject" ref="afe846555a245630e84314f1a32ee79cb" args="() const " -->
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<td class="memname">OPENGL_SETOFOBJECTSPTR mrpt::poses::CPointPDF::getAs3DObject </td>
<td>(</td>
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<td> const<code> [inline, inherited]</code></td>
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<p>Returns a 3D representation of this PDF. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>Needs the mrpt-opengl library, and using <a class="el" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">mrpt::opengl::CSetOfObjectsPtr</a> as template argument. </dd></dl>
<p>Definition at line <a class="el" href="_c_point_p_d_f_8h_source.html#l00096">96</a> of file <a class="el" href="_c_point_p_d_f_8h_source.html">CPointPDF.h</a>.</p>
<p>References <a class="el" href="pose__pdfs_8h_source.html#l00042">mrpt::opengl::posePDF2opengl()</a>.</p>
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<a class="anchor" id="a76a1c94c45614ec2ab8f4b209d126745"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::getCovariance" ref="a76a1c94c45614ec2ab8f4b209d126745" args="(CMatrixDouble &cov) const " -->
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<td class="memname">void mrpt::utils::CProbabilityDensityFunction::getCovariance </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> & </td>
<td class="paramname"><em>cov</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getMean, getCovarianceAndMean </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00089">89</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
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<a class="anchor" id="a9ac7187b742c121c3338cb767b7994ba"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::getCovariance" ref="a9ac7187b742c121c3338cb767b7994ba" args="(CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const " -->
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<td class="memname">void mrpt::utils::CProbabilityDensityFunction::getCovariance </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, STATE_LEN, STATE_LEN > & </td>
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<td> const<code> [inline, inherited]</code></td>
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<p>Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getMean, getCovarianceAndMean </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00098">98</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a><double,STATE_LEN,STATE_LEN> mrpt::utils::CProbabilityDensityFunction::getCovariance </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getMean </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00107">107</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
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<a class="anchor" id="aef4a7a5d215e4c7e855286ad4a4d1bbe"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::getCovarianceAndMean" ref="aef4a7a5d215e4c7e855286ad4a4d1bbe" args="(CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, TDATA &mean_point) const =0" -->
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<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::getCovarianceAndMean </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, STATE_LEN, STATE_LEN > & </td>
<td class="paramname"><em>cov</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">TDATA & </td>
<td class="paramname"><em>mean_point</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [pure virtual, inherited]</code></td>
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<p>Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getMean </dd></dl>
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<a class="anchor" id="a42a8f7d3a63e02fa5814ca8321c04c42"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::getCovarianceAndMean" ref="a42a8f7d3a63e02fa5814ca8321c04c42" args="(CMatrixDouble33 &cov, CPoint3D &mean_point) const " -->
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<td class="memname">void mrpt::poses::CPointPDFParticles::getCovarianceAndMean </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> & </td>
<td class="paramname"><em>cov</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> & </td>
<td class="paramname"><em>mean_point</em> </td>
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<td></td>
<td>)</td>
<td></td><td> const</td>
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<p>Returns an estimate of the point covariance matrix (3x3 cov matrix) and the mean, both at once. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#a188d9ffba95a2d9486ce8f1451d6fa4f" title="Returns an estimate of the point, (the mean, or mathematical expectation of the PDF).">getMean</a> </dd></dl>
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<a class="anchor" id="a8a5db2a590d8fcd23408a3d8a8a1f76c"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::getCovarianceDynAndMean" ref="a8a5db2a590d8fcd23408a3d8a8a1f76c" args="(CMatrixDouble &cov, TDATA &mean_point) const " -->
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<td class="memname">void mrpt::utils::CProbabilityDensityFunction::getCovarianceDynAndMean </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> & </td>
<td class="paramname"><em>cov</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">TDATA & </td>
<td class="paramname"><em>mean_point</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [inline, inherited]</code></td>
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<p>Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getMean </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00069">69</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
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<a class="anchor" id="a311648912f182acf9fc0896208492216"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::getCovarianceEntropy" ref="a311648912f182acf9fc0896208492216" args="() const " -->
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<td class="memname">double mrpt::utils::CProbabilityDensityFunction::getCovarianceEntropy </td>
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<td> const<code> [inline, inherited]</code></td>
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<p>Compute the entropy of the estimated covariance matrix. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a href="http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy">http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00145">145</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
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<a class="anchor" id="afc168fcbcba4191a0e64fc2a3b7c4c78"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::getMean" ref="afc168fcbcba4191a0e64fc2a3b7c4c78" args="(TDATA &mean_point) const =0" -->
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<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::getMean </td>
<td>(</td>
<td class="paramtype">TDATA & </td>
<td class="paramname"><em>mean_point</em></td><td>)</td>
<td> const<code> [pure virtual, inherited]</code></td>
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<p>Returns the mean, or mathematical expectation of the probability density distribution (PDF). </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getCovarianceAndMean </dd></dl>
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<a class="anchor" id="a188d9ffba95a2d9486ce8f1451d6fa4f"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::getMean" ref="a188d9ffba95a2d9486ce8f1451d6fa4f" args="(CPoint3D &mean_point) const " -->
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<td class="memname">void mrpt::poses::CPointPDFParticles::getMean </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> & </td>
<td class="paramname"><em>mean_point</em></td><td>)</td>
<td> const</td>
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<p>Returns an estimate of the point, (the mean, or mathematical expectation of the PDF). </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a76a1c94c45614ec2ab8f4b209d126745" title="Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)">getCovariance</a> </dd></dl>
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<a class="anchor" id="ad6c0c9844ac63db9c793652e4619c549"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::getMeanVal" ref="ad6c0c9844ac63db9c793652e4619c549" args="() const " -->
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<td class="memname">TDATA mrpt::utils::CProbabilityDensityFunction::getMeanVal </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Returns the mean, or mathematical expectation of the probability density distribution (PDF). </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getCovariance </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00079">79</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
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<a class="anchor" id="a814fc6f819c7e213c036467c14fbba66"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::getMostLikelyParticle" ref="a814fc6f819c7e213c036467c14fbba66" args="() const " -->
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<td class="memname">const <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a9a69200b93ad7b3c528362d3c1a35ea4">CParticleData</a>* mrpt::bayes::CParticleFilterData::getMostLikelyParticle </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Returns the particle with the highest weight. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00140">140</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="a3dd21821bf7062960d7ecd2b9be679ba"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::GetRuntimeClass" ref="a3dd21821bf7062960d7ecd2b9be679ba" args="() const " -->
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<td class="memname">virtual const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::poses::CPointPDFParticles::GetRuntimeClass </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [virtual]</code></td>
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<p>Returns information about the class of an object in runtime. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#a48133c6b7a483c1d5f4c96b005be22c2">mrpt::poses::CPointPDF</a>.</p>
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<a class="anchor" id="a1197013292ffd4af22c539cac3304263"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::getWeights" ref="a1197013292ffd4af22c539cac3304263" args="(vector_double &out_logWeights) const " -->
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<td class="memname">void mrpt::bayes::CParticleFilterData::getWeights </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> & </td>
<td class="paramname"><em>out_logWeights</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Returns a vector with the sequence of the logaritmic weights of all the samples. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00127">127</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="add1c0feb8a1afe0e1701dfac3accb7e0"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::IMPLEMENT_PARTICLE_FILTER_CAPABLE" ref="add1c0feb8a1afe0e1701dfac3accb7e0" args="(TSimple3DPoint)" -->
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<td class="memname">mrpt::poses::CPointPDFParticles::IMPLEMENT_PARTICLE_FILTER_CAPABLE </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_t_simple3_d_point.html">TSimple3DPoint</a> </td>
<td class="paramname"></td><td>)</td>
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<a class="anchor" id="ae1aece8c459ffd8eab83ea191791a7e2"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::is_3D" ref="ae1aece8c459ffd8eab83ea191791a7e2" args="()" -->
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<td class="memname">static bool mrpt::poses::CPointPDF::is_3D </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_point_p_d_f_8h_source.html#l00079">79</a> of file <a class="el" href="_c_point_p_d_f_8h_source.html">CPointPDF.h</a>.</p>
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<a class="anchor" id="affffb868a8f2d8e928b7e8d8cad73594"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::is_PDF" ref="affffb868a8f2d8e928b7e8d8cad73594" args="()" -->
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<td class="memname">static bool mrpt::poses::CPointPDF::is_PDF </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_point_p_d_f_8h_source.html#l00081">81</a> of file <a class="el" href="_c_point_p_d_f_8h_source.html">CPointPDF.h</a>.</p>
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<a class="anchor" id="a73ba83035a64939cdc3aa1c0dfed23ec"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::readFromStream" ref="a73ba83035a64939cdc3aa1c0dfed23ec" args="(mrpt::utils::CStream &in, int version)=0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::readFromStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>in</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>version</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">in</td><td>The input binary stream where the object data must read from. </td></tr>
<tr><td class="paramname">version</td><td>The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d" title="Reads a block of bytes from the stream into Buffer On any error, or if ZERO bytes are read...">CStream::ReadBuffer</a> </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a0194e57ec48c1dfc6aa00c23d3409143">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a12db95e8c32d48d2d2483936dec516a7">mrpt::math::CMatrix</a>.</p>
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<a class="anchor" id="ad32e2f80aeab31b21184d7e1bde687bc"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::readParticlesFromStream" ref="ad32e2f80aeab31b21184d7e1bde687bc" args="(utils::CStream &in)" -->
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<td class="memname">void mrpt::bayes::CParticleFilterData::readParticlesFromStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">utils::CStream</a> & </td>
<td class="paramname"><em>in</em></td><td>)</td>
<td><code> [inline, inherited]</code></td>
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<p>Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable). </p>
<dl class="see"><dt><b>See also:</b></dt><dd>writeParticlesToStream </dd></dl>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00107">107</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="ad74270e1cf6072787418f032ed71e080"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::saveToTextFile" ref="ad74270e1cf6072787418f032ed71e080" args="(const std::string &file) const " -->
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<td class="memname">void mrpt::poses::CPointPDFParticles::saveToTextFile </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>file</em></td><td>)</td>
<td> const<code> [virtual]</code></td>
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<p>Save PDF's particles to a text file, where each line is: X Y Z LOG_W. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a960b9e93abcf834b4bb5ce5f880b2570">mrpt::utils::CProbabilityDensityFunction< CPoint3D, 3 ></a>.</p>
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<a class="anchor" id="aed1a2b3a0457ba6f4187598d5fa29d03"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::setSize" ref="aed1a2b3a0457ba6f4187598d5fa29d03" args="(size_t numberParticles, const CPoint3D &defaultValue=CPoint3D(0, 0, 0))" -->
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<td class="memname">void mrpt::poses::CPointPDFParticles::setSize </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>numberParticles</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> & </td>
<td class="paramname"><em>defaultValue</em> = <code><a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a>(0, 0, 0)</code> </td>
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<td></td>
<td>)</td>
<td></td><td></td>
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<p>Erase all the previous particles and change the number of particles, with a given initial value. </p>
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<a class="anchor" id="ad9ce639ddc78bd1bf08b89613dda8b78"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::size" ref="ad9ce639ddc78bd1bf08b89613dda8b78" args="() const " -->
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<td class="memname">size_t mrpt::poses::CPointPDFParticles::size </td>
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<td class="paramname"></td><td>)</td>
<td> const<code> [inline]</code></td>
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<p>Returns the number of particles. </p>
<p>Definition at line <a class="el" href="_c_point_p_d_f_particles_8h_source.html#l00098">98</a> of file <a class="el" href="_c_point_p_d_f_particles_8h_source.html">CPointPDFParticles.h</a>.</p>
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<a class="anchor" id="ac5571368ccef88d4c205b43b9f6d630d"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::writeParticlesToStream" ref="ac5571368ccef88d4c205b43b9f6d630d" args="(utils::CStream &out) const " -->
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<td class="memname">void mrpt::bayes::CParticleFilterData::writeParticlesToStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">utils::CStream</a> & </td>
<td class="paramname"><em>out</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable). </p>
<dl class="see"><dt><b>See also:</b></dt><dd>readParticlesFromStream </dd></dl>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00093">93</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="a0b6b801e67bca3d8e0d355e7035f8013"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::writeToStream" ref="a0b6b801e67bca3d8e0d355e7035f8013" args="(mrpt::utils::CStream &out, int *getVersion) const =0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::writeToStream </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
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<td class="paramtype">int * </td>
<td class="paramname"><em>getVersion</em> </td>
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<td>)</td>
<td></td><td> const<code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. </p>
<p>This can not be used directly be users, instead use "stream << object;" for writing it to a stream. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out</td><td>The output binary stream where object must be dumped. </td></tr>
<tr><td class="paramname">getVersion</td><td>If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. </td></tr>
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</dd>
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<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a276005e7110c9de74ff3277b3f7bf621" title="Writes a block of bytes to the stream from Buffer.">CStream::WriteBuffer</a> </td></tr>
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</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a767e787b52208ab4dd46ba7f5e2fd224">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a059d7eaf80dab9c7435154146d2b7dbf">mrpt::math::CMatrix</a>.</p>
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<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="a6fec28a53e20dfc1c4d046c26f9f7b48"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::mrpt::utils::CStream" ref="a6fec28a53e20dfc1c4d046c26f9f7b48" args="" -->
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<td class="memname">friend class <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a><code> [friend, inherited]</code></td>
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<p>Reimplemented from <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::utils::CSerializable</a>.</p>
<p>Definition at line <a class="el" href="_c_point_p_d_f_8h_source.html#l00063">63</a> of file <a class="el" href="_c_point_p_d_f_8h_source.html">CPointPDF.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="ae41ccb0f404fc003a44b508e7dd451bb"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::_init_CPointPDFParticles" ref="ae41ccb0f404fc003a44b508e7dd451bb" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html">mrpt::utils::CLASSINIT</a> <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#ae41ccb0f404fc003a44b508e7dd451bb">mrpt::poses::CPointPDFParticles::_init_CPointPDFParticles</a><code> [static, protected]</code></td>
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<p>Definition at line <a class="el" href="_c_point_p_d_f_particles_8h_source.html#l00074">74</a> of file <a class="el" href="_c_point_p_d_f_particles_8h_source.html">CPointPDFParticles.h</a>.</p>
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<a class="anchor" id="acb51e4dd811d62c2696aee449d0a4715"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::classCObject" ref="acb51e4dd811d62c2696aee449d0a4715" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">mrpt::utils::CObject::classCObject</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00139">139</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="a837349901839932fb122a36074583dcb"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::classCPointPDF" ref="a837349901839932fb122a36074583dcb" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#a837349901839932fb122a36074583dcb">mrpt::poses::CPointPDF::classCPointPDF</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_point_p_d_f_8h_source.html#l00063">63</a> of file <a class="el" href="_c_point_p_d_f_8h_source.html">CPointPDF.h</a>.</p>
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<a class="anchor" id="a89eb6386efef52051945f14239aafd69"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::classCPointPDFParticles" ref="a89eb6386efef52051945f14239aafd69" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#a89eb6386efef52051945f14239aafd69">mrpt::poses::CPointPDFParticles::classCPointPDFParticles</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_point_p_d_f_particles_8h_source.html#l00074">74</a> of file <a class="el" href="_c_point_p_d_f_particles_8h_source.html">CPointPDFParticles.h</a>.</p>
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<a class="anchor" id="a28ec2a03d277a8469b8ecfc81892afdf"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::classCSerializable" ref="a28ec2a03d277a8469b8ecfc81892afdf" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">mrpt::utils::CSerializable::classCSerializable</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_serializable_8h_source.html#l00056">56</a> of file <a class="el" href="_c_serializable_8h_source.html">CSerializable.h</a>.</p>
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<a class="anchor" id="a4c8fd0e63d5d07f4665fcf18aabfda68"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::classinfo" ref="a4c8fd0e63d5d07f4665fcf18aabfda68" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#a4c8fd0e63d5d07f4665fcf18aabfda68">mrpt::poses::CPointPDFParticles::classinfo</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_point_p_d_f_particles_8h_source.html#l00074">74</a> of file <a class="el" href="_c_point_p_d_f_particles_8h_source.html">CPointPDFParticles.h</a>.</p>
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<a class="anchor" id="af8bb2dfdacf54929213c8f905cdec000"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::m_particles" ref="af8bb2dfdacf54929213c8f905cdec000" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a455efc0962577f042b38590f36583537">CParticleList</a> <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#af8bb2dfdacf54929213c8f905cdec000">mrpt::bayes::CParticleFilterData::m_particles</a><code> [inherited]</code></td>
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<p>The array of particles. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00064">64</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="a77a06347b68aa3c08de63c790d88eb12"></a><!-- doxytag: member="mrpt::poses::CPointPDFParticles::state_length" ref="a77a06347b68aa3c08de63c790d88eb12" args="" -->
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<td class="memname">const size_t <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a77a06347b68aa3c08de63c790d88eb12">mrpt::utils::CProbabilityDensityFunction::state_length</a><code> [static, inherited]</code></td>
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<p>The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). </p>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00053">53</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
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<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>
