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<a href="#pub-types">Public Types</a> |
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<div class="title">mrpt::poses::CPose3DPDFGaussian 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::CPose3DPDFGaussian" --><!-- doxytag: inherits="mrpt::poses::CPose3DPDF" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Declares a class that represents a Probability Density function (PDF) of a 3D pose <img class="formulaInl" alt="$ p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t $" src="form_61.png"/>. </p>
<p>This class implements that PDF using a mono-modal Gaussian distribution. See <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">mrpt::poses::CPose3DPDF</a> for more details.</p>
<p>Uncertainty of pose composition operations ( <img class="formulaInl" alt="$ y = x \oplus u $" src="form_62.png"/>) is implemented in the method "CPose3DPDFGaussian::operator+=".</p>
<p>For further details on implemented methods and the theory behind them, see <a href="http://www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty">this report</a>.</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">CPose3DPDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose.">CPose3DPDFParticles</a> </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_pose3_d_p_d_f_gaussian_8h_source.html">mrpt/poses/CPose3DPDFGaussian.h</a>></code></p>
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Inheritance diagram for mrpt::poses::CPose3DPDFGaussian:</div>
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<div class="center"><img src="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian__inherit__graph.png" border="0" usemap="#mrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian_inherit__map" id="mrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian_inherit__map">
<area shape="rect" id="node2" 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)..." alt="" coords="167,173,349,200"/><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="4,96,168,123"/><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="19,5,153,32"/><area shape="rect" id="node8" href="classmrpt_1_1utils_1_1_c_probability_density_function.html" title="mrpt::utils::CProbabilityDensityFunction\< CPose3D, 6 \>" alt="" coords="194,96,544,123"/><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="242,5,496,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian-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_pose3_d_p_d_f.html#aa55d80e51508a26082f1880cbc873952a6ed9ca1ca001de1c19a616b6ca63bb4f">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_pose3_d_p_d_f.html#adad44d7dc823816bce27305dd7a34597a85fb35f986ff00995b6c630a9fc580de">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 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_pose3_d_p_d_f_gaussian.html#a7fcca8da955127e9205ed4deb9b347df">CPose3DPDFGaussian</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor. <a href="#a7fcca8da955127e9205ed4deb9b347df"></a><br/></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_pose3_d_p_d_f_gaussian.html#af4953fd6d844d2061d039374db1c02d4">CPose3DPDFGaussian</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &init_Mean)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#af4953fd6d844d2061d039374db1c02d4"></a><br/></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_pose3_d_p_d_f_gaussian.html#a390304c3d60da6dc25fbfa30f37b4332">CPose3DPDFGaussian</a> (<a class="el" href="namespacemrpt_1_1poses.html#ac46e1fb95d438a441b6f396d9c79f430">TConstructorFlags_Poses</a> constructor_dummy_param)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Uninitialized constructor: leave all fields uninitialized - Call with UNINITIALIZED_POSE as argument. <a href="#a390304c3d60da6dc25fbfa30f37b4332"></a><br/></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_pose3_d_p_d_f_gaussian.html#a5b191cf1dd2b18ab6fea6b6d31f5b790">CPose3DPDFGaussian</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &init_Mean, const <a class="el" href="namespacemrpt_1_1math.html#a69ac788617e87d06107cd7a32a1352b7">CMatrixDouble66</a> &init_Cov)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#a5b191cf1dd2b18ab6fea6b6d31f5b790"></a><br/></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_pose3_d_p_d_f_gaussian.html#ab1866ca1ab3c70d38182dfde19a352e3">CPose3DPDFGaussian</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html">CPosePDFGaussian</a> &o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables z,pitch, and roll). <a href="#ab1866ca1ab3c70d38182dfde19a352e3"></a><br/></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_pose3_d_p_d_f_gaussian.html#abe0e7571849808f5aa3c1e43d49f67e1">CPose3DPDFGaussian</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html">CPose3DQuatPDFGaussian</a> &o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor from a 6D pose PDF described as a Quaternion. <a href="#abe0e7571849808f5aa3c1e43d49f67e1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#a0e9ead0b25d0fc4f9145e2d322d7c325">getPoseMean</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#a75610fc33d16b2bd26c8e2608dbd4217">getPoseMean</a> ()</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_pose3_d_p_d_f_gaussian.html#a2162f0ff11aa0638d55d30e61aab6867">getMean</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &mean_pose) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). <a href="#a2162f0ff11aa0638d55d30e61aab6867"></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_pose3_d_p_d_f_gaussian.html#af84ade863c73fd80c7816ae0ab5cce48">getCovarianceAndMean</a> (<a class="el" href="namespacemrpt_1_1math.html#a69ac788617e87d06107cd7a32a1352b7">CMatrixDouble66</a> &<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#a425a06a63e1c4a14de416369d42fb6d8">cov</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &mean_point) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an estimate of the pose covariance matrix (6x6 cov matrix) and the mean, both at once. <a href="#af84ade863c73fd80c7816ae0ab5cce48"></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_pose3_d_p_d_f_gaussian.html#a739c09b3f60cbdbce982240bff78ff27">copyFrom</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html">CPose3DPDF</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="#a739c09b3f60cbdbce982240bff78ff27"></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_pose3_d_p_d_f_gaussian.html#ac447c54fea4d290978959aab97e21fe7">copyFrom</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html">CPosePDF</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="#ac447c54fea4d290978959aab97e21fe7"></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_pose3_d_p_d_f_gaussian.html#ad10b8e3c1954e0065c707a20d56877d2">copyFrom</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html">CPose3DQuatPDFGaussian</a> &o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Copy from a 6D pose PDF described as a Quaternion. <a href="#ad10b8e3c1954e0065c707a20d56877d2"></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_pose3_d_p_d_f_gaussian.html#a45f5f8d84b96ad19cd22227022fa6c5b">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 the PDF to a text file, containing the 3D pose in the first line, then the covariance matrix in next 3 lines. <a href="#a45f5f8d84b96ad19cd22227022fa6c5b"></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_pose3_d_p_d_f_gaussian.html#aa9d10e1c7019e6713857177c5320bb8b">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="#aa9d10e1c7019e6713857177c5320bb8b"></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_pose3_d_p_d_f_gaussian.html#a7c39c4900d8441116ae1206cf91c728b">drawSingleSample</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &outPart) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draws a single sample from the distribution. <a href="#a7c39c4900d8441116ae1206cf91c728b"></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_pose3_d_p_d_f_gaussian.html#aaff9b5c5d05a8d41dce6aec68505d08a">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 1x6 vectors, where each row contains a (x,y,phi) datum. <a href="#aaff9b5c5d05a8d41dce6aec68505d08a"></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_pose3_d_p_d_f_gaussian.html#a52d6162767be6e9d2b9c41a076b463e2">bayesianFusion</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html">CPose3DPDF</a> &p1, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html">CPose3DPDF</a> &p2)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Bayesian fusion of two points gauss. <a href="#a52d6162767be6e9d2b9c41a076b463e2"></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_pose3_d_p_d_f_gaussian.html#a53bcfa392db82c988351d1d9c581fe89">inverse</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html">CPose3DPDF</a> &o) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. <a href="#a53bcfa392db82c988351d1d9c581fe89"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html">CPose3DPDFGaussian</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#a9c81ea30c5a6aff51a7d3f49e7c86eab">operator-</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Unary - operator, returns the PDF of the inverse pose. <a href="#a9c81ea30c5a6aff51a7d3f49e7c86eab"></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_pose3_d_p_d_f_gaussian.html#aa8888ac7fd193ecf45a69ed13b43c1fa">operator+=</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &Ap)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). <a href="#aa8888ac7fd193ecf45a69ed13b43c1fa"></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_pose3_d_p_d_f_gaussian.html#a1d136d1df053e4c44fdb58de557a2291">operator+=</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html">CPose3DPDFGaussian</a> &Ap)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). <a href="#a1d136d1df053e4c44fdb58de557a2291"></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_pose3_d_p_d_f_gaussian.html#a85d7bed3b6ae048a1ac8b7c2e902f29a">operator-=</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html">CPose3DPDFGaussian</a> &Ap)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated). <a href="#a85d7bed3b6ae048a1ac8b7c2e902f29a"></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_pose3_d_p_d_f_gaussian.html#a66378e8a719400eb5406298c536f4331">evaluatePDF</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &x) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Evaluates the PDF at a given point. <a href="#a66378e8a719400eb5406298c536f4331"></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_pose3_d_p_d_f_gaussian.html#ad9c38ce1e06a498af369cc35e8011bdd">evaluateNormalizedPDF</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &x) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]. <a href="#ad9c38ce1e06a498af369cc35e8011bdd"></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_pose3_d_p_d_f_gaussian.html#a706f80732acd3e9f37a0ee15330bf3ed">mahalanobisDistanceTo</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html">CPose3DPDFGaussian</a> &theOther)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the Mahalanobis distance between the centers of two Gaussians. <a href="#a706f80732acd3e9f37a0ee15330bf3ed"></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_pose3_d_p_d_f_gaussian.html#a99ab78595a67f5c8f944dd74cf5e5733">getCovSubmatrix2D</a> (<a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> &out_cov) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a 3x3 matrix with submatrix of the covariance for the variables (x,y,yaw) only. <a href="#a99ab78595a67f5c8f944dd74cf5e5733"></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_pose3_d_p_d_f.html#a63b11435e6a63f018ac354ef32ffc3f4">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="#a63b11435e6a63f018ac354ef32ffc3f4"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class OPENGL_SETOFOBJECTSPTR > </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_pose3_d_p_d_f.html#a999dc69f3d774b6974c93ea9ace3c482">getAs3DObject</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a 3D representation of this PDF. <a href="#a999dc69f3d774b6974c93ea9ace3c482"></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 > &<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#a425a06a63e1c4a14de416369d42fb6d8">cov</a>, 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> &<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#a425a06a63e1c4a14de416369d42fb6d8">cov</a>, 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> &<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#a425a06a63e1c4a14de416369d42fb6d8">cov</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="#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 > &<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#a425a06a63e1c4a14de416369d42fb6d8">cov</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="#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">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 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 void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#a3ebe1b404b8d2749eba448a91c4d5bf5">jacobiansPoseComposition</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &x, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &u, <a class="el" href="namespacemrpt_1_1math.html#a69ac788617e87d06107cd7a32a1352b7">CMatrixDouble66</a> &df_dx, <a class="el" href="namespacemrpt_1_1math.html#a69ac788617e87d06107cd7a32a1352b7">CMatrixDouble66</a> &df_du)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This static method computes the pose composition Jacobians. <a href="#a3ebe1b404b8d2749eba448a91c4d5bf5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html">CPose3DPDF</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html#ae3668a18fc364b0f1b6ccb10cb6660ff">createFrom2D</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html">CPosePDF</a> &o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of <a class="el" 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 href="#ae3668a18fc364b0f1b6ccb10cb6660ff"></a><br/></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_pose3_d_p_d_f.html#ab8a25fc7620ad6983ef458b0ddcf845f">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_pose3_d_p_d_f.html#a599938cf84c080779703219b58a2a62d">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_1poses_1_1_c_pose3_d.html">CPose3D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#abee45d2ebffda7957797b18720d0abec">mean</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The mean value. <a href="#abee45d2ebffda7957797b18720d0abec"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1math.html#a69ac788617e87d06107cd7a32a1352b7">CMatrixDouble66</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#a425a06a63e1c4a14de416369d42fb6d8">cov</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The 6x6 covariance matrix. <a href="#a425a06a63e1c4a14de416369d42fb6d8"></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>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></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_pose3_d_p_d_f_gaussian.html#aa333bcac030ef3e86b42b57321fdd6c5">assureSymmetry</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!) <a href="#aa333bcac030ef3e86b42b57321fdd6c5"></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#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>
<tr><td colspan="2"><h2><a name="member-group"></a>
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_pose3_d_p_d_f.html#a7e72b9bb9360b22d1f1b3c3572b2f76d">classCPose3DPDF</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_pose3_d_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::utils::CStream</a></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian_ptr.html">CPose3DPDFGaussianPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#a57194c6c1c86a95a22d5c682135169c5">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_pose3_d_p_d_f_gaussian.html#a935e3bb7b532fcb17c348858ec59be2e">_init_CPose3DPDFGaussian</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_pose3_d_p_d_f_gaussian.html#a59fb71ba116293f9eccffa2adbc39c49">classCPose3DPDFGaussian</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_pose3_d_p_d_f_gaussian.html#ab456fc19a878a9e1838ee00be0d0fd34">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_pose3_d_p_d_f_gaussian.html#af6ca2149251a6e541f41f0494a08fffb">_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_pose3_d_p_d_f_gaussian.html#af225aa7edd2cc9d787e97f517e847bc4">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="#af225aa7edd2cc9d787e97f517e847bc4"></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_pose3_d_p_d_f_gaussian.html#a9b27d9967b815ee3940c15de195a36e2">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="#a9b27d9967b815ee3940c15de195a36e2"></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_pose3_d_p_d_f_gaussian.html#a4d6da6febb59a1687848d78e5ee66af7">CreateObject</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian_ptr.html">CPose3DPDFGaussianPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#a1df00a57bbeb6b93aa48e81a728ee944">Create</a> ()</td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a57194c6c1c86a95a22d5c682135169c5"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::SmartPtr" ref="a57194c6c1c86a95a22d5c682135169c5" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian_ptr.html">CPose3DPDFGaussianPtr</a> <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#a57194c6c1c86a95a22d5c682135169c5">mrpt::poses::CPose3DPDFGaussian::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_pose3_d_p_d_f_gaussian_8h_source.html#l00059">59</a> of file <a class="el" href="_c_pose3_d_p_d_f_gaussian_8h_source.html">CPose3DPDFGaussian.h</a>.</p>
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<a class="anchor" id="ab4d442c6713a2aaac04cf79bee93c251"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::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="aa55d80e51508a26082f1880cbc873952"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::@27" ref="aa55d80e51508a26082f1880cbc873952" 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="aa55d80e51508a26082f1880cbc873952a6ed9ca1ca001de1c19a616b6ca63bb4f"></a><!-- doxytag: member="is_3D_val" ref="aa55d80e51508a26082f1880cbc873952a6ed9ca1ca001de1c19a616b6ca63bb4f" args="" -->is_3D_val</em> </td><td>
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</dd>
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<p>Definition at line <a class="el" href="_c_pose3_d_p_d_f_8h_source.html#l00085">85</a> of file <a class="el" href="_c_pose3_d_p_d_f_8h_source.html">CPose3DPDF.h</a>.</p>
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<a class="anchor" id="adad44d7dc823816bce27305dd7a34597"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::@28" ref="adad44d7dc823816bce27305dd7a34597" 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="adad44d7dc823816bce27305dd7a34597a85fb35f986ff00995b6c630a9fc580de"></a><!-- doxytag: member="is_PDF_val" ref="adad44d7dc823816bce27305dd7a34597a85fb35f986ff00995b6c630a9fc580de" args="" -->is_PDF_val</em> </td><td>
</td></tr>
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</dd>
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<p>Definition at line <a class="el" href="_c_pose3_d_p_d_f_8h_source.html#l00087">87</a> of file <a class="el" href="_c_pose3_d_p_d_f_8h_source.html">CPose3DPDF.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a7fcca8da955127e9205ed4deb9b347df"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::CPose3DPDFGaussian" ref="a7fcca8da955127e9205ed4deb9b347df" args="()" -->
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<td class="memname">mrpt::poses::CPose3DPDFGaussian::CPose3DPDFGaussian </td>
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<p>Default constructor. </p>
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<a class="anchor" id="af4953fd6d844d2061d039374db1c02d4"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::CPose3DPDFGaussian" ref="af4953fd6d844d2061d039374db1c02d4" args="(const CPose3D &init_Mean)" -->
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<td class="memname">mrpt::poses::CPose3DPDFGaussian::CPose3DPDFGaussian </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>init_Mean</em></td><td>)</td>
<td><code> [explicit]</code></td>
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<p>Constructor. </p>
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<a class="anchor" id="a390304c3d60da6dc25fbfa30f37b4332"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::CPose3DPDFGaussian" ref="a390304c3d60da6dc25fbfa30f37b4332" args="(TConstructorFlags_Poses constructor_dummy_param)" -->
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<td class="memname">mrpt::poses::CPose3DPDFGaussian::CPose3DPDFGaussian </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1poses.html#ac46e1fb95d438a441b6f396d9c79f430">TConstructorFlags_Poses</a> </td>
<td class="paramname"><em>constructor_dummy_param</em></td><td>)</td>
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<p>Uninitialized constructor: leave all fields uninitialized - Call with UNINITIALIZED_POSE as argument. </p>
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<a class="anchor" id="a5b191cf1dd2b18ab6fea6b6d31f5b790"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::CPose3DPDFGaussian" ref="a5b191cf1dd2b18ab6fea6b6d31f5b790" args="(const CPose3D &init_Mean, const CMatrixDouble66 &init_Cov)" -->
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<td class="memname">mrpt::poses::CPose3DPDFGaussian::CPose3DPDFGaussian </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"><em>init_Mean</em>, </td>
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<td class="paramtype">const <a class="el" href="namespacemrpt_1_1math.html#a69ac788617e87d06107cd7a32a1352b7">CMatrixDouble66</a> & </td>
<td class="paramname"><em>init_Cov</em> </td>
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<p>Constructor. </p>
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<a class="anchor" id="ab1866ca1ab3c70d38182dfde19a352e3"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::CPose3DPDFGaussian" ref="ab1866ca1ab3c70d38182dfde19a352e3" args="(const CPosePDFGaussian &o)" -->
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<td class="memname">mrpt::poses::CPose3DPDFGaussian::CPose3DPDFGaussian </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html">CPosePDFGaussian</a> & </td>
<td class="paramname"><em>o</em></td><td>)</td>
<td><code> [explicit]</code></td>
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<p>Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables z,pitch, and roll). </p>
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<a class="anchor" id="abe0e7571849808f5aa3c1e43d49f67e1"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::CPose3DPDFGaussian" ref="abe0e7571849808f5aa3c1e43d49f67e1" args="(const CPose3DQuatPDFGaussian &o)" -->
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<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html">CPose3DQuatPDFGaussian</a> & </td>
<td class="paramname"><em>o</em></td><td>)</td>
<td><code> [explicit]</code></td>
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<p>Constructor from a 6D pose PDF described as a Quaternion. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="af6ca2149251a6e541f41f0494a08fffb"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::_GetBaseClass" ref="af6ca2149251a6e541f41f0494a08fffb" 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::CPose3DPDFGaussian::_GetBaseClass </td>
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<td><code> [static, protected]</code></td>
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<p>Reimplemented from <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html#af407be7acaee076eb77d450f8736b963">mrpt::poses::CPose3DPDF</a>.</p>
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<a class="anchor" id="aa333bcac030ef3e86b42b57321fdd6c5"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::assureSymmetry" ref="aa333bcac030ef3e86b42b57321fdd6c5" args="()" -->
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<td class="memname">void mrpt::poses::CPose3DPDFGaussian::assureSymmetry </td>
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<p>Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!) </p>
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<a class="anchor" id="a52d6162767be6e9d2b9c41a076b463e2"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::bayesianFusion" ref="a52d6162767be6e9d2b9c41a076b463e2" args="(const CPose3DPDF &p1, const CPose3DPDF &p2)" -->
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<td class="memname">void mrpt::poses::CPose3DPDFGaussian::bayesianFusion </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html">CPose3DPDF</a> & </td>
<td class="paramname"><em>p1</em>, </td>
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<td class="paramname"><em>p2</em> </td>
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<p>Bayesian fusion of two points gauss. </p>
<p>distributions, then save the result in this object. The process is as follows:<br/>
</p>
<ul>
<li>(x1,S1): Mean and variance of the p1 distribution.</li>
<li>(x2,S2): Mean and variance of the p2 distribution.</li>
<li>(x,S): Mean and variance of the resulting distribution.</li>
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<p>S = (S1<sup>-1</sup> + S2<sup>-1</sup>)<sup>-1</sup>; x = S * ( S1<sup>-1</sup>*x1 + S2<sup>-1</sup>*x2 ); </p>
<p>Implements <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html#a7384ba5cb9a5da0df9a5b3c913ddc5de">mrpt::poses::CPose3DPDF</a>.</p>
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<a class="anchor" id="aa9d10e1c7019e6713857177c5320bb8b"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::changeCoordinatesReference" ref="aa9d10e1c7019e6713857177c5320bb8b" args="(const CPose3D &newReferenceBase)" -->
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<td class="memname">void mrpt::poses::CPose3DPDFGaussian::changeCoordinatesReference </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
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<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. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aac79fa433163e2ffe0cb3c12d02e61ba">mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 ></a>.</p>
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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="a739c09b3f60cbdbce982240bff78ff27"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::copyFrom" ref="a739c09b3f60cbdbce982240bff78ff27" args="(const CPose3DPDF &o)" -->
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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_pose3_d_p_d_f.html#a7a386778e22ed6876a5733ad39b81015">mrpt::poses::CPose3DPDF</a>.</p>
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<p>Copy operator, translating if necesary (for example, between particles and gaussian representations) </p>
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<p>Copy from a 6D pose PDF described as a Quaternion. </p>
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<td class="memname">static <a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian_ptr.html">CPose3DPDFGaussianPtr</a> mrpt::poses::CPose3DPDFGaussian::Create </td>
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<a class="anchor" id="ae3668a18fc364b0f1b6ccb10cb6660ff"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::createFrom2D" ref="ae3668a18fc364b0f1b6ccb10cb6660ff" args="(const CPosePDF &o)" -->
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<td class="memname">static <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html">CPose3DPDF</a>* mrpt::poses::CPose3DPDF::createFrom2D </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html">CPosePDF</a> & </td>
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<td><code> [static, inherited]</code></td>
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<p>This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of <a class="el" 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>. </p>
<p>This object must be deleted by the user when not required anymore. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html#a7a386778e22ed6876a5733ad39b81015" title="Copy operator, translating if necesary (for example, between particles and gaussian representations)...">copyFrom</a> </dd></dl>
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<a class="anchor" id="a4d6da6febb59a1687848d78e5ee66af7"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::CreateObject" ref="a4d6da6febb59a1687848d78e5ee66af7" 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::CPose3DPDFGaussian::CreateObject </td>
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<td><code> [static]</code></td>
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<a class="anchor" id="aaff9b5c5d05a8d41dce6aec68505d08a"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::drawManySamples" ref="aaff9b5c5d05a8d41dce6aec68505d08a" args="(size_t N, std::vector< vector_double > &outSamples) const " -->
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<td class="memname">void mrpt::poses::CPose3DPDFGaussian::drawManySamples </td>
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<td class="paramtype">size_t </td>
<td class="paramname"><em>N</em>, </td>
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<td class="paramkey"></td>
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<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 1x6 vectors, where each row contains a (x,y,phi) datum. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aa437cf2c11cb0e937e851a0f498a4fb2">mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 ></a>.</p>
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<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::drawSingleSample </td>
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<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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<td class="memname">void mrpt::poses::CPose3DPDFGaussian::drawSingleSample </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"><em>outPart</em></td><td>)</td>
<td> const</td>
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<p>Draws a single sample from the distribution. </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::CPose3DPDFGaussian::duplicate </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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<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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<td class="memname">double mrpt::poses::CPose3DPDFGaussian::evaluateNormalizedPDF </td>
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<p>Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]. </p>
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<td class="memname">double mrpt::poses::CPose3DPDFGaussian::evaluatePDF </td>
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<td class="paramname"><em>x</em></td><td>)</td>
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<p>Evaluates the PDF at a given point. </p>
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<a class="anchor" id="a63b11435e6a63f018ac354ef32ffc3f4"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::getAs3DObject" ref="a63b11435e6a63f018ac354ef32ffc3f4" args="(OPENGL_SETOFOBJECTSPTR &out_obj) const " -->
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<td class="memname">void mrpt::poses::CPose3DPDF::getAs3DObject </td>
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<td class="paramtype">OPENGL_SETOFOBJECTSPTR & </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_pose3_d_p_d_f_8h_source.html#l00094">94</a> of file <a class="el" href="_c_pose3_d_p_d_f_8h_source.html">CPose3DPDF.h</a>.</p>
<p>References <a class="el" href="pose__pdfs_8h_source.html#l00042">mrpt::opengl::posePDF2opengl()</a>.</p>
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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_pose3_d_p_d_f_8h_source.html#l00103">103</a> of file <a class="el" href="_c_pose3_d_p_d_f_8h_source.html">CPose3DPDF.h</a>.</p>
<p>References <a class="el" href="pose__pdfs_8h_source.html#l00042">mrpt::opengl::posePDF2opengl()</a>.</p>
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<td class="memname">void mrpt::utils::CProbabilityDensityFunction::getCovariance </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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<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>
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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::CPose3DPDFGaussian::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>
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<td class="paramname"><em>mean_point</em> </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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<td class="memname">void mrpt::poses::CPose3DPDFGaussian::getCovarianceAndMean </td>
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<td class="paramname"><em>mean_point</em> </td>
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<p>Returns an estimate of the pose covariance matrix (6x6 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_pose3_d_p_d_f_gaussian.html#a2162f0ff11aa0638d55d30e61aab6867" title="Returns an estimate of the pose, (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::CPose3DPDFGaussian::getCovarianceDynAndMean" ref="a8a5db2a590d8fcd23408a3d8a8a1f76c" args="(CMatrixDouble &cov, TDATA &mean_point) const " -->
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<td class="memname">void mrpt::utils::CProbabilityDensityFunction::getCovarianceDynAndMean </td>
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<td>)</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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<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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<td class="memname">void mrpt::poses::CPose3DPDFGaussian::getCovSubmatrix2D </td>
<td>(</td>
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<td class="paramname"><em>out_cov</em></td><td>)</td>
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<p>Returns a 3x3 matrix with submatrix of the covariance for the variables (x,y,yaw) only. </p>
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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="a2162f0ff11aa0638d55d30e61aab6867"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::getMean" ref="a2162f0ff11aa0638d55d30e61aab6867" args="(CPose3D &mean_pose) const " -->
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<td class="memname">void mrpt::poses::CPose3DPDFGaussian::getMean </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"><em>mean_pose</em></td><td>)</td>
<td> const</td>
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<p>Returns an estimate of the pose, (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::CPose3DPDFGaussian::getMeanVal" ref="ad6c0c9844ac63db9c793652e4619c549" args="() const " -->
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<td class="memname">TDATA mrpt::utils::CProbabilityDensityFunction::getMeanVal </td>
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<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="a0e9ead0b25d0fc4f9145e2d322d7c325"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::getPoseMean" ref="a0e9ead0b25d0fc4f9145e2d322d7c325" args="() const " -->
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<td class="memname">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a>& mrpt::poses::CPose3DPDFGaussian::getPoseMean </td>
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<td class="paramname"></td><td>)</td>
<td> const<code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_pose3_d_p_d_f_gaussian_8h_source.html#l00098">98</a> of file <a class="el" href="_c_pose3_d_p_d_f_gaussian_8h_source.html">CPose3DPDFGaussian.h</a>.</p>
<p>References <a class="el" href="eigen__plugins_8h_source.html#l00373">mean()</a>.</p>
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<a class="anchor" id="a75610fc33d16b2bd26c8e2608dbd4217"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::getPoseMean" ref="a75610fc33d16b2bd26c8e2608dbd4217" args="()" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a>& mrpt::poses::CPose3DPDFGaussian::getPoseMean </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_pose3_d_p_d_f_gaussian_8h_source.html#l00099">99</a> of file <a class="el" href="_c_pose3_d_p_d_f_gaussian_8h_source.html">CPose3DPDFGaussian.h</a>.</p>
<p>References <a class="el" href="eigen__plugins_8h_source.html#l00373">mean()</a>.</p>
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<a class="anchor" id="af225aa7edd2cc9d787e97f517e847bc4"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::GetRuntimeClass" ref="af225aa7edd2cc9d787e97f517e847bc4" 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::CPose3DPDFGaussian::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_pose3_d_p_d_f.html#a36589358958b7ef3df7b70dce9be5e81">mrpt::poses::CPose3DPDF</a>.</p>
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<a class="anchor" id="a53bcfa392db82c988351d1d9c581fe89"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::inverse" ref="a53bcfa392db82c988351d1d9c581fe89" args="(CPose3DPDF &o) const " -->
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<td class="memname">void mrpt::poses::CPose3DPDFGaussian::inverse </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html">CPose3DPDF</a> & </td>
<td class="paramname"><em>o</em></td><td>)</td>
<td> const<code> [virtual]</code></td>
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<p>Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. </p>
<p>Implements <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html#aa20b862103971110bf48bdf305b1a609">mrpt::poses::CPose3DPDF</a>.</p>
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<a class="anchor" id="ab8a25fc7620ad6983ef458b0ddcf845f"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::is_3D" ref="ab8a25fc7620ad6983ef458b0ddcf845f" args="()" -->
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<td class="memname">static bool mrpt::poses::CPose3DPDF::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_pose3_d_p_d_f_8h_source.html#l00086">86</a> of file <a class="el" href="_c_pose3_d_p_d_f_8h_source.html">CPose3DPDF.h</a>.</p>
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<a class="anchor" id="a599938cf84c080779703219b58a2a62d"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::is_PDF" ref="a599938cf84c080779703219b58a2a62d" args="()" -->
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<td class="memname">static bool mrpt::poses::CPose3DPDF::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_pose3_d_p_d_f_8h_source.html#l00088">88</a> of file <a class="el" href="_c_pose3_d_p_d_f_8h_source.html">CPose3DPDF.h</a>.</p>
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<a class="anchor" id="a3ebe1b404b8d2749eba448a91c4d5bf5"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::jacobiansPoseComposition" ref="a3ebe1b404b8d2749eba448a91c4d5bf5" args="(const CPose3D &x, const CPose3D &u, CMatrixDouble66 &df_dx, CMatrixDouble66 &df_du)" -->
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<td class="memname">static void mrpt::poses::CPose3DPDFGaussian::jacobiansPoseComposition </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>x</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_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"><em>u</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a69ac788617e87d06107cd7a32a1352b7">CMatrixDouble66</a> & </td>
<td class="paramname"><em>df_dx</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a69ac788617e87d06107cd7a32a1352b7">CMatrixDouble66</a> & </td>
<td class="paramname"><em>df_du</em> </td>
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<td></td>
<td>)</td>
<td></td><td><code> [static]</code></td>
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<p>This static method computes the pose composition Jacobians. </p>
<p>See this techical report: <a href="http:///www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty">http:///www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty</a></p>
<p>Direct equations (for the covariances) in yaw-pitch-roll are too complex. Make a way around them and consider instead this path: </p>
<div class="fragment"><pre class="fragment"> X(6D) U(6D)
| |
v v
X(7D) U(7D)
| |
+--- (+) ---+
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v
RES(7D)
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v
RES(6D)
</pre></div>
<p>Referenced by <a class="el" href="jacobians_8h_source.html#l00105">mrpt::math::jacobians::jacobs_6D_pose_comp()</a>.</p>
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<a class="anchor" id="a706f80732acd3e9f37a0ee15330bf3ed"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::mahalanobisDistanceTo" ref="a706f80732acd3e9f37a0ee15330bf3ed" args="(const CPose3DPDFGaussian &theOther)" -->
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<td class="memname">double mrpt::poses::CPose3DPDFGaussian::mahalanobisDistanceTo </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html">CPose3DPDFGaussian</a> & </td>
<td class="paramname"><em>theOther</em></td><td>)</td>
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<p>Computes the Mahalanobis distance between the centers of two Gaussians. </p>
<p>The variables with a variance exactly equal to 0 are not taken into account in the process, but "infinity" is returned if the corresponding elements are not exactly equal. </p>
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<a class="anchor" id="aa8888ac7fd193ecf45a69ed13b43c1fa"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::operator+=" ref="aa8888ac7fd193ecf45a69ed13b43c1fa" args="(const CPose3D &Ap)" -->
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<td class="memname">void mrpt::poses::CPose3DPDFGaussian::operator+= </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>Ap</em></td><td>)</td>
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<p>Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). </p>
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<td class="memname">void mrpt::poses::CPose3DPDFGaussian::operator+= </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html">CPose3DPDFGaussian</a> & </td>
<td class="paramname"><em>Ap</em></td><td>)</td>
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<p>Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). </p>
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html">CPose3DPDFGaussian</a> mrpt::poses::CPose3DPDFGaussian::operator- </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline]</code></td>
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<p>Unary - operator, returns the PDF of the inverse pose. </p>
<p>Definition at line <a class="el" href="_c_pose3_d_p_d_f_gaussian_8h_source.html#l00157">157</a> of file <a class="el" href="_c_pose3_d_p_d_f_gaussian_8h_source.html">CPose3DPDFGaussian.h</a>.</p>
<p>References <a class="el" href="_c_pose_or_point_8h_source.html#l00057">mrpt::poses::UNINITIALIZED_POSE</a>.</p>
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<a class="anchor" id="a85d7bed3b6ae048a1ac8b7c2e902f29a"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::operator-=" ref="a85d7bed3b6ae048a1ac8b7c2e902f29a" args="(const CPose3DPDFGaussian &Ap)" -->
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<td class="memname">void mrpt::poses::CPose3DPDFGaussian::operator-= </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html">CPose3DPDFGaussian</a> & </td>
<td class="paramname"><em>Ap</em></td><td>)</td>
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<p>Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated). </p>
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<a class="anchor" id="a73ba83035a64939cdc3aa1c0dfed23ec"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::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="paramname"><em>version</em> </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>
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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#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="a45f5f8d84b96ad19cd22227022fa6c5b"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::saveToTextFile" ref="a45f5f8d84b96ad19cd22227022fa6c5b" args="(const std::string &file) const " -->
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<td class="memname">void mrpt::poses::CPose3DPDFGaussian::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>
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<p>Save the PDF to a text file, containing the 3D pose in the first line, then the covariance matrix in next 3 lines. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a960b9e93abcf834b4bb5ce5f880b2570">mrpt::utils::CProbabilityDensityFunction< CPose3D, 6 ></a>.</p>
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<a class="anchor" id="a0b6b801e67bca3d8e0d355e7035f8013"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::writeToStream" ref="a0b6b801e67bca3d8e0d355e7035f8013" args="(mrpt::utils::CStream &out, int *getVersion) const =0" -->
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<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>
</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#a276005e7110c9de74ff3277b3f7bf621" title="Writes a block of bytes to the stream from Buffer.">CStream::WriteBuffer</a> </td></tr>
</table>
</dd>
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<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::CPose3DPDFGaussian::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_pose3_d_p_d_f_8h_source.html#l00063">63</a> of file <a class="el" href="_c_pose3_d_p_d_f_8h_source.html">CPose3DPDF.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a935e3bb7b532fcb17c348858ec59be2e"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::_init_CPose3DPDFGaussian" ref="a935e3bb7b532fcb17c348858ec59be2e" 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_pose3_d_p_d_f_gaussian.html#a935e3bb7b532fcb17c348858ec59be2e">mrpt::poses::CPose3DPDFGaussian::_init_CPose3DPDFGaussian</a><code> [static, protected]</code></td>
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<p>Definition at line <a class="el" href="_c_pose3_d_p_d_f_gaussian_8h_source.html#l00059">59</a> of file <a class="el" href="_c_pose3_d_p_d_f_gaussian_8h_source.html">CPose3DPDFGaussian.h</a>.</p>
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<a class="anchor" id="acb51e4dd811d62c2696aee449d0a4715"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::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="a7e72b9bb9360b22d1f1b3c3572b2f76d"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::classCPose3DPDF" ref="a7e72b9bb9360b22d1f1b3c3572b2f76d" 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_pose3_d_p_d_f.html#a7e72b9bb9360b22d1f1b3c3572b2f76d">mrpt::poses::CPose3DPDF::classCPose3DPDF</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_pose3_d_p_d_f_8h_source.html#l00063">63</a> of file <a class="el" href="_c_pose3_d_p_d_f_8h_source.html">CPose3DPDF.h</a>.</p>
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<a class="anchor" id="a59fb71ba116293f9eccffa2adbc39c49"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::classCPose3DPDFGaussian" ref="a59fb71ba116293f9eccffa2adbc39c49" 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_pose3_d_p_d_f_gaussian.html#a59fb71ba116293f9eccffa2adbc39c49">mrpt::poses::CPose3DPDFGaussian::classCPose3DPDFGaussian</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_pose3_d_p_d_f_gaussian_8h_source.html#l00059">59</a> of file <a class="el" href="_c_pose3_d_p_d_f_gaussian_8h_source.html">CPose3DPDFGaussian.h</a>.</p>
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<a class="anchor" id="a28ec2a03d277a8469b8ecfc81892afdf"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::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="ab456fc19a878a9e1838ee00be0d0fd34"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::classinfo" ref="ab456fc19a878a9e1838ee00be0d0fd34" 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_pose3_d_p_d_f_gaussian.html#ab456fc19a878a9e1838ee00be0d0fd34">mrpt::poses::CPose3DPDFGaussian::classinfo</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_pose3_d_p_d_f_gaussian_8h_source.html#l00059">59</a> of file <a class="el" href="_c_pose3_d_p_d_f_gaussian_8h_source.html">CPose3DPDFGaussian.h</a>.</p>
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<a class="anchor" id="a425a06a63e1c4a14de416369d42fb6d8"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::cov" ref="a425a06a63e1c4a14de416369d42fb6d8" args="" -->
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<td class="memname"><a class="el" href="namespacemrpt_1_1math.html#a69ac788617e87d06107cd7a32a1352b7">CMatrixDouble66</a> <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#a425a06a63e1c4a14de416369d42fb6d8">mrpt::poses::CPose3DPDFGaussian::cov</a></td>
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<p>The 6x6 covariance matrix. </p>
<p>Definition at line <a class="el" href="_c_pose3_d_p_d_f_gaussian_8h_source.html#l00096">96</a> of file <a class="el" href="_c_pose3_d_p_d_f_gaussian_8h_source.html">CPose3DPDFGaussian.h</a>.</p>
<p>Referenced by <a class="el" href="_c_network_of_poses__impl_8h_source.html#l00516">mrpt::graphs::detail::graph_ops::auxMaha2Dist()</a>.</p>
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<a class="anchor" id="abee45d2ebffda7957797b18720d0abec"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::mean" ref="abee45d2ebffda7957797b18720d0abec" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#abee45d2ebffda7957797b18720d0abec">mrpt::poses::CPose3DPDFGaussian::mean</a></td>
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<p>The mean value. </p>
<p>Definition at line <a class="el" href="_c_pose3_d_p_d_f_gaussian_8h_source.html#l00092">92</a> of file <a class="el" href="_c_pose3_d_p_d_f_gaussian_8h_source.html">CPose3DPDFGaussian.h</a>.</p>
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<a class="anchor" id="a77a06347b68aa3c08de63c790d88eb12"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFGaussian::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>
