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<a href="#pub-types">Public Types</a> |
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<div class="title">mrpt::poses::CPose3DPDFParticles 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::CPose3DPDFParticles" --><!-- doxytag: inherits="mrpt::poses::CPose3DPDF,CParticleFilterData< CPose3D >,mrpt::bayes::CParticleFilterCapable" --><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. </p>
<p>This class is also the base for the implementation of Monte-Carlo Localization (MCL), in <a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html" title="Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x...">mrpt::slam::CMonteCarloLocalization2D</a>.</p>
<p>See the application "app/pf-localization" for an example of usage.</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>, CPoseGaussianPDF </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_pose3_d_p_d_f_particles_8h_source.html">mrpt/poses/CPose3DPDFParticles.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::poses::CPose3DPDFParticles:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles__inherit__graph.png" border="0" usemap="#mrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles_inherit__map" id="mrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles_inherit__map">
<area shape="rect" id="node19" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization3_d.html" title="Declares a class that represents a Probability Density Function (PDF) over a 3D pose (x..." alt="" coords="1523,107,1778,133"/><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="950,56,1133,83"/><area shape="rect" id="node4" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT..." alt="" coords="504,5,669,32"/><area shape="rect" id="node6" href="classmrpt_1_1utils_1_1_c_object.html" title="The virtual base class of all MRPT classes with a unified RTTI system." alt="" coords="65,5,201,32"/><area shape="rect" id="node8" href="classmrpt_1_1utils_1_1_c_probability_density_function.html" title="mrpt::utils::CProbabilityDensityFunction\< CPose3D, 6 \>" alt="" coords="411,56,762,83"/><area shape="rect" id="node10" href="classmrpt_1_1utils_1_1_c_probability_density_function.html" title="A generic template for probability density distributions (PDFs)." alt="" coords="6,56,261,83"/><area shape="rect" id="node12" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html" title="mrpt::bayes::CParticleFilterData\< CPose3D \>" alt="" coords="896,107,1187,133"/><area shape="rect" id="node14" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html" title="This template class declares the array of particles and its internal data, managing some memory-relat..." alt="" coords="481,107,692,133"/><area shape="rect" id="node16" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html" title="This virtual class defines the interface that any particles based PDF class must implement in order t..." alt="" coords="926,157,1157,184"/></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_particles-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <a class="el" href="classmrpt_1_1poses_1_1_c_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 class="memItemLeft" align="right" valign="top">typedef T </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a95d1ef05087b7dc214aa7d8550a69e2b">CParticleDataContent</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This is the type inside the corresponding CParticleData class. <a href="#a95d1ef05087b7dc214aa7d8550a69e2b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1bayes_1_1_c_probability_particle.html">CProbabilityParticle</a>< T > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a9a69200b93ad7b3c528362d3c1a35ea4">CParticleData</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Use this to refer to each element in the m_particles array. <a href="#a9a69200b93ad7b3c528362d3c1a35ea4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1deque.html">std::deque</a>< <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a9a69200b93ad7b3c528362d3c1a35ea4">CParticleData</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a455efc0962577f042b38590f36583537">CParticleList</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Use this type to refer to the list of particles m_particles. <a href="#a455efc0962577f042b38590f36583537"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef double(* </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a6a77d17782b7527dd6cdd4e024ac9f1b">TParticleProbabilityEvaluator</a> )(const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> &PF_options, const <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html">CParticleFilterCapable</a> *obj, size_t index, const void *action, const void *observation)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A callback function type for evaluating the probability of m_particles of being selected, used in "fastDrawSample". <a href="#a6a77d17782b7527dd6cdd4e024ac9f1b"></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_particles.html#ae7f5cfbdfedcafbd05d2aecaa7a278c6">CPose3DPDFParticles</a> (size_t M=1)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#ae7f5cfbdfedcafbd05d2aecaa7a278c6"></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_particles.html#af0732438e45481380409e3662f157f29">CPose3DPDFParticles</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html">CPose3DPDFParticles</a> &obj)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Copy constructor: <a href="#af0732438e45481380409e3662f157f29"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html#aefb309372e8d487d0a70a2592199536c">~CPose3DPDFParticles</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#aefb309372e8d487d0a70a2592199536c"></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_particles.html#a640df4a2472bc906e666c149728963a8">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 m_particles and gaussian representations) <a href="#a640df4a2472bc906e666c149728963a8"></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_particles.html#a761ff9667b30e149ff9ea9afbd5573a4">resetDeterministic</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &location, size_t particlesCount=0)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reset the PDF to a single point: All m_particles will be set exactly to the supplied pose. <a href="#a761ff9667b30e149ff9ea9afbd5573a4"></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_particles.html#a2feb82dde38a79987878ee6766188dbc">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), computed as a weighted average over all m_particles. <a href="#a2feb82dde38a79987878ee6766188dbc"></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_particles.html#ab178f4a05a38330c8379dc0e4b700450">getCovarianceAndMean</a> (<a class="el" href="namespacemrpt_1_1math.html#a69ac788617e87d06107cd7a32a1352b7">CMatrixDouble66</a> &cov, <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="#ab178f4a05a38330c8379dc0e4b700450"></a><br/></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_particles.html#a473aea64d48e812c6fef0411150bc9fa">getParticlePose</a> (int i) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the pose of the i'th particle. <a href="#a473aea64d48e812c6fef0411150bc9fa"></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_particles.html#a35d9df096da31899f614eeca0152a094">saveToTextFile</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &file) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save PDF's m_particles to a text file. <a href="#a35d9df096da31899f614eeca0152a094"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html#af3f7be7ad74cf547b821dcf738ae7859">size</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the m_particles count (equivalent to "particlesCount") <a href="#af3f7be7ad74cf547b821dcf738ae7859"></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_particles.html#a3f9205a05b0a75b8055f084276ebb1ae">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="#a3f9205a05b0a75b8055f084276ebb1ae"></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_particles.html#a5bc32849f26594982ce23ec759d532d9">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 (WARNING: weights are assumed to be normalized!) <a href="#a5bc32849f26594982ce23ec759d532d9"></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_particles.html#af33f12350278b29b8292c10a313ef51d">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="#af33f12350278b29b8292c10a313ef51d"></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_particles.html#affbce151415e6f56b34e4c21b7a80aba">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">Appends (pose-composition) a given pose "p" to each particle. <a href="#affbce151415e6f56b34e4c21b7a80aba"></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_particles.html#a1929f2d7f2cd60dd44e54984ecdd5de5">append</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html">CPose3DPDFParticles</a> &o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Appends (add to the list) a set of m_particles to the existing ones, and then normalize weights. <a href="#a1929f2d7f2cd60dd44e54984ecdd5de5"></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_particles.html#afa31be67bd4e62815e4d2e6e595efeb4">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="#afa31be67bd4e62815e4d2e6e595efeb4"></a><br/></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_particles.html#abd05e959c40d1c063e41cb1e21fbb491">getMostLikelyParticle</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the particle with the highest weight. <a href="#abd05e959c40d1c063e41cb1e21fbb491"></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_particles.html#abbf2afb024e00197840f19877958e5c0">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. <a href="#abbf2afb024e00197840f19877958e5c0"></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 > &cov, TDATA &mean_point) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. <a href="#aef4a7a5d215e4c7e855286ad4a4d1bbe"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a8a5db2a590d8fcd23408a3d8a8a1f76c">getCovarianceDynAndMean</a> (<a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> &cov, TDATA &mean_point) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. <a href="#a8a5db2a590d8fcd23408a3d8a8a1f76c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">TDATA </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#ad6c0c9844ac63db9c793652e4619c549">getMeanVal</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the mean, or mathematical expectation of the probability density distribution (PDF). <a href="#ad6c0c9844ac63db9c793652e4619c549"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a76a1c94c45614ec2ab8f4b209d126745">getCovariance</a> (<a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> &cov) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) <a href="#a76a1c94c45614ec2ab8f4b209d126745"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a9ac7187b742c121c3338cb767b7994ba">getCovariance</a> (<a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, STATE_LEN, STATE_LEN > &cov) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) <a href="#a9ac7187b742c121c3338cb767b7994ba"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, <br class="typebreak"/>
STATE_LEN, STATE_LEN > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a689312caf79ee5268fa913e3fa5c82c0">getCovariance</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) <a href="#a689312caf79ee5268fa913e3fa5c82c0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#ae8879d10e9d7a6c94211dd0ffffc4c9d">drawSingleSample</a> (TDATA &outPart) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draws a single sample from the distribution. <a href="#ae8879d10e9d7a6c94211dd0ffffc4c9d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a311648912f182acf9fc0896208492216">getCovarianceEntropy</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Compute the entropy of the estimated covariance matrix. <a href="#a311648912f182acf9fc0896208492216"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#aec1870d0f4607da2c6cb83c4325005a9">clearParticles</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Free the memory of all the particles and reset the array "m_particles" to length zero. <a href="#aec1870d0f4607da2c6cb83c4325005a9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#ac5571368ccef88d4c205b43b9f6d630d">writeParticlesToStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">utils::CStream</a> &out) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable). <a href="#ac5571368ccef88d4c205b43b9f6d630d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#ad32e2f80aeab31b21184d7e1bde687bc">readParticlesFromStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">utils::CStream</a> &in)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable). <a href="#ad32e2f80aeab31b21184d7e1bde687bc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a1197013292ffd4af22c539cac3304263">getWeights</a> (<a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> &out_logWeights) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a vector with the sequence of the logaritmic weights of all the samples. <a href="#a1197013292ffd4af22c539cac3304263"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a02d7ff724a4b73d449a0f5dc28216e63">prepareFastDrawSample</a> (const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> &PF_options, <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a6a77d17782b7527dd6cdd4e024ac9f1b">TParticleProbabilityEvaluator</a> partEvaluator=defaultEvaluator, const void *action=NULL, const void *observation=NULL) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Prepares data structures for calling fastDrawSample method next. <a href="#a02d7ff724a4b73d449a0f5dc28216e63"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#afc4f93d0568e52e91227348baf7b242f">fastDrawSample</a> (const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> &PF_options) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draws a random sample from the particle filter, in such a way that each particle has a probability proportional to its weight (in the standard PF algorithm). <a href="#afc4f93d0568e52e91227348baf7b242f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a6ca16ca0217cdac4b586df5df9cdaea2">getW</a> (size_t i) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Access to i'th particle (logarithm) weight, where first one is index 0. <a href="#a6ca16ca0217cdac4b586df5df9cdaea2"></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_1bayes_1_1_c_particle_filter_capable.html#aecb3d0c17d29b4027a7eede17d2e0b8e">setW</a> (size_t i, double w)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Modifies i'th particle (logarithm) weight, where first one is index 0. <a href="#aecb3d0c17d29b4027a7eede17d2e0b8e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a70664baf3816bce82f06933270a5c8d1">particlesCount</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the m_particles count. <a href="#a70664baf3816bce82f06933270a5c8d1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a0b464ec72adbfc8a9aea3cf4aa6bdf9e">prediction_and_update</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html">mrpt::slam::CActionCollection</a> *action, const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">mrpt::slam::CSensoryFrame</a> *observation, const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> &PF_options)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Performs the prediction stage of the Particle Filter. <a href="#a0b464ec72adbfc8a9aea3cf4aa6bdf9e"></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_1bayes_1_1_c_particle_filter_capable.html#a9f8e1f63a625dedcc5e5209dde04203f">performSubstitution</a> (const <a class="el" href="classstd_1_1vector.html">std::vector</a>< size_t > &indx)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Performs the substitution for internal use of resample in particle filter algorithm, don't call it directly. <a href="#a9f8e1f63a625dedcc5e5209dde04203f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a675b747939b1945bd16d6cee3f968c14">normalizeWeights</a> (double *out_max_log_w=NULL)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Normalize the (logarithmic) weights, such as the maximum weight is zero. <a href="#a675b747939b1945bd16d6cee3f968c14"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#afc87a617ea5582e4ba80bb3c065c4785">ESS</a> ()=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the normalized ESS (Estimated Sample Size), in the range [0,1]. <a href="#afc87a617ea5582e4ba80bb3c065c4785"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a72a3c11af8ca4b021ced0568d952c664">performResampling</a> (const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> &PF_options)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Performs a resample of the m_particles, using the method selected in the constructor. <a href="#a72a3c11af8ca4b021ced0568d952c664"></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 <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 class="memItemLeft" align="right" valign="top">static double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#aca935576d796515781dfd8456f4c3025">defaultEvaluator</a> (const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> &PF_options, const <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html">CParticleFilterCapable</a> *obj, size_t index, const void *action, const void *observation)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The default evaluator function, which simply returns the particle weight. <a href="#aca935576d796515781dfd8456f4c3025"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#ae7468df83aa6ac4c3d616167036fd6d0">computeResampling</a> (<a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#a5a2e5c42fba6719b5f2f4b8fa1f4154c">CParticleFilter::TParticleResamplingAlgorithm</a> method, const <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> &in_logWeights, <a class="el" href="classstd_1_1vector.html">std::vector</a>< size_t > &out_indexes)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A static method to perform the computation of the samples resulting from resampling a given set of particles, given their logarithmic weights, and a resampling method. <a href="#ae7468df83aa6ac4c3d616167036fd6d0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#aea2fbc82bdf299a199d98692cc234fed">log2linearWeights</a> (const <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> &in_logWeights, <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> &out_linWeights)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A static method to compute the linear, normalized (the sum the unity) weights from log-weights. <a href="#aea2fbc82bdf299a199d98692cc234fed"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a455efc0962577f042b38590f36583537">CParticleList</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#af8bb2dfdacf54929213c8f905cdec000">m_particles</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The array of particles. <a href="#af8bb2dfdacf54929213c8f905cdec000"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-attribs"></a>
Static Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">classCObject</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a77a06347b68aa3c08de63c790d88eb12">state_length</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). <a href="#a77a06347b68aa3c08de63c790d88eb12"></a><br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">RTTI stuff</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">classCSerializable</a></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a0b6b801e67bca3d8e0d355e7035f8013">writeToStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &out, int *getVersion) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. <a href="#a0b6b801e67bca3d8e0d355e7035f8013"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a73ba83035a64939cdc3aa1c0dfed23ec">readFromStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, int version)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. <a href="#a73ba83035a64939cdc3aa1c0dfed23ec"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a06f7be77f50468af6e58c5514b911447">prediction_and_update_pfStandardProposal</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html">mrpt::slam::CActionCollection</a> *action, const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">mrpt::slam::CSensoryFrame</a> *observation, const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> &PF_options)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Performs the particle filter prediction/update stages for the algorithm "pfStandardProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception). <a href="#a06f7be77f50468af6e58c5514b911447"></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_1bayes_1_1_c_particle_filter_capable.html#a6c3422cab2911965e328101bf240414c">prediction_and_update_pfAuxiliaryPFStandard</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html">mrpt::slam::CActionCollection</a> *action, const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">mrpt::slam::CSensoryFrame</a> *observation, const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> &PF_options)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFStandard" (if not implemented in heritated class, it will raise a 'non-implemented' exception). <a href="#a6c3422cab2911965e328101bf240414c"></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_1bayes_1_1_c_particle_filter_capable.html#a0094d5dd370db9a037c67dde87649911">prediction_and_update_pfOptimalProposal</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html">mrpt::slam::CActionCollection</a> *action, const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">mrpt::slam::CSensoryFrame</a> *observation, const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> &PF_options)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Performs the particle filter prediction/update stages for the algorithm "pfOptimalProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception). <a href="#a0094d5dd370db9a037c67dde87649911"></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_1bayes_1_1_c_particle_filter_capable.html#aeeccd563c344607e4cc96272c9817bd8">prediction_and_update_pfAuxiliaryPFOptimal</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html">mrpt::slam::CActionCollection</a> *action, const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">mrpt::slam::CSensoryFrame</a> *observation, const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> &PF_options)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFOptimal" (if not implemented in heritated class, it will raise a 'non-implemented' exception). <a href="#aeeccd563c344607e4cc96272c9817bd8"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_capable_1_1_t_fast_draw_aux_vars.html">TFastDrawAuxVars</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a0f9ce972442bcd3324711dd2211ce659">m_fastDrawAuxiliary</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary vectors, see <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a02d7ff724a4b73d449a0f5dc28216e63" title="Prepares data structures for calling fastDrawSample method next.">CParticleFilterCapable::prepareFastDrawSample</a> for more information. <a href="#a0f9ce972442bcd3324711dd2211ce659"></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>
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RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles_ptr.html">CPose3DPDFParticlesPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html#a643373fb96d9c3e24669c6e9c6f09cda">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_particles.html#aeecc61db6a9d7bce567a056e57ea450f">_init_CPose3DPDFParticles</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_particles.html#aa1443b4aed8831c4252cedd3ce74b4cf">classCPose3DPDFParticles</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_particles.html#a79a336548c8a2cb3891609244bec1ad8">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_particles.html#a2993f3a5a7944721da072e34ed0044c8">_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_particles.html#af7ac6df0facb19f33d9c4328814438b1">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="#af7ac6df0facb19f33d9c4328814438b1"></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_particles.html#a7304e3b9362d80754232877aacdaa808">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="#a7304e3b9362d80754232877aacdaa808"></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_particles.html#a1d5581d9aa7e8b99c2747098610f952e">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_particles_ptr.html">CPose3DPDFParticlesPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html#aab6ef12390df95db3a31a90400d4107f">Create</a> ()</td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a9a69200b93ad7b3c528362d3c1a35ea4"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::CParticleData" ref="a9a69200b93ad7b3c528362d3c1a35ea4" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1bayes_1_1_c_probability_particle.html">CProbabilityParticle</a><T> <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a9a69200b93ad7b3c528362d3c1a35ea4">mrpt::bayes::CParticleFilterData::CParticleData</a><code> [inherited]</code></td>
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<p>Use this to refer to each element in the m_particles array. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00061">61</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="a95d1ef05087b7dc214aa7d8550a69e2b"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::CParticleDataContent" ref="a95d1ef05087b7dc214aa7d8550a69e2b" args="" -->
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<td class="memname">typedef T <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a95d1ef05087b7dc214aa7d8550a69e2b">mrpt::bayes::CParticleFilterData::CParticleDataContent</a><code> [inherited]</code></td>
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<p>This is the type inside the corresponding CParticleData class. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00060">60</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="a455efc0962577f042b38590f36583537"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::CParticleList" ref="a455efc0962577f042b38590f36583537" args="" -->
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<td class="memname">typedef <a class="el" href="classstd_1_1deque.html">std::deque</a><<a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a9a69200b93ad7b3c528362d3c1a35ea4">CParticleData</a>> <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a455efc0962577f042b38590f36583537">mrpt::bayes::CParticleFilterData::CParticleList</a><code> [inherited]</code></td>
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<p>Use this type to refer to the list of particles m_particles. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00062">62</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="a643373fb96d9c3e24669c6e9c6f09cda"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::SmartPtr" ref="a643373fb96d9c3e24669c6e9c6f09cda" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles_ptr.html">CPose3DPDFParticlesPtr</a> <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html#a643373fb96d9c3e24669c6e9c6f09cda">mrpt::poses::CPose3DPDFParticles::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_particles_8h_source.html#l00066">66</a> of file <a class="el" href="_c_pose3_d_p_d_f_particles_8h_source.html">CPose3DPDFParticles.h</a>.</p>
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<a class="anchor" id="a6a77d17782b7527dd6cdd4e024ac9f1b"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::TParticleProbabilityEvaluator" ref="a6a77d17782b7527dd6cdd4e024ac9f1b" args=")(const bayes::CParticleFilter::TParticleFilterOptions &PF_options, const CParticleFilterCapable *obj, size_t index, const void *action, const void *observation)" -->
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<td class="memname">typedef double( * <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a6a77d17782b7527dd6cdd4e024ac9f1b">mrpt::bayes::CParticleFilterCapable::TParticleProbabilityEvaluator</a>)(const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> &PF_options, const <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html">CParticleFilterCapable</a> *obj, size_t index, const void *action, const void *observation)<code> [inherited]</code></td>
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<p>A callback function type for evaluating the probability of m_particles of being selected, used in "fastDrawSample". </p>
<p>The default evaluator function "defaultEvaluator" simply returns the particle weight. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">index</td><td>This is the index of the particle its probability is being computed. </td></tr>
<tr><td class="paramname">action</td><td>The value of this is the parameter passed to "prepareFastDrawSample" </td></tr>
<tr><td class="paramname">observation</td><td>The value of this is the parameter passed to "prepareFastDrawSample" The action and the observation are declared as "void*" for a greater flexibility. </td></tr>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a02d7ff724a4b73d449a0f5dc28216e63" title="Prepares data structures for calling fastDrawSample method next.">prepareFastDrawSample</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_particle_filter_capable_8h_source.html#l00073">73</a> of file <a class="el" href="_c_particle_filter_capable_8h_source.html">CParticleFilterCapable.h</a>.</p>
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<a class="anchor" id="ab4d442c6713a2aaac04cf79bee93c251"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::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::CPose3DPDFParticles::@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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<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::CPose3DPDFParticles::@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>
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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="ae7f5cfbdfedcafbd05d2aecaa7a278c6"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::CPose3DPDFParticles" ref="ae7f5cfbdfedcafbd05d2aecaa7a278c6" args="(size_t M=1)" -->
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<td class="memname">mrpt::poses::CPose3DPDFParticles::CPose3DPDFParticles </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>M</em> = <code>1</code></td><td>)</td>
<td></td>
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<p>Constructor. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">M</td><td>The number of m_particles. </td></tr>
</table>
</dd>
</dl>
</div>
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<a class="anchor" id="af0732438e45481380409e3662f157f29"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::CPose3DPDFParticles" ref="af0732438e45481380409e3662f157f29" args="(const CPose3DPDFParticles &obj)" -->
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<td class="memname">mrpt::poses::CPose3DPDFParticles::CPose3DPDFParticles </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html">CPose3DPDFParticles</a> & </td>
<td class="paramname"><em>obj</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Copy constructor: </p>
<p>Definition at line <a class="el" href="_c_pose3_d_p_d_f_particles_8h_source.html#l00079">79</a> of file <a class="el" href="_c_pose3_d_p_d_f_particles_8h_source.html">CPose3DPDFParticles.h</a>.</p>
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<a class="anchor" id="aefb309372e8d487d0a70a2592199536c"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::~CPose3DPDFParticles" ref="aefb309372e8d487d0a70a2592199536c" args="()" -->
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<td class="memname">virtual mrpt::poses::CPose3DPDFParticles::~CPose3DPDFParticles </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Destructor. </p>
</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a2993f3a5a7944721da072e34ed0044c8"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::_GetBaseClass" ref="a2993f3a5a7944721da072e34ed0044c8" 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::CPose3DPDFParticles::_GetBaseClass </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static, protected]</code></td>
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</table>
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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="a1929f2d7f2cd60dd44e54984ecdd5de5"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::append" ref="a1929f2d7f2cd60dd44e54984ecdd5de5" args="(CPose3DPDFParticles &o)" -->
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<td class="memname">void mrpt::poses::CPose3DPDFParticles::append </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html">CPose3DPDFParticles</a> & </td>
<td class="paramname"><em>o</em></td><td>)</td>
<td></td>
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<p>Appends (add to the list) a set of m_particles to the existing ones, and then normalize weights. </p>
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<a class="anchor" id="abbf2afb024e00197840f19877958e5c0"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::bayesianFusion" ref="abbf2afb024e00197840f19877958e5c0" args="(const CPose3DPDF &p1, const CPose3DPDF &p2)" -->
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<td class="memname">void mrpt::poses::CPose3DPDFParticles::bayesianFusion </td>
<td>(</td>
<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="paramkey"></td>
<td></td>
<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>p2</em> </td>
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<td>)</td>
<td></td><td><code> [virtual]</code></td>
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<p>Bayesian fusion. </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="a3f9205a05b0a75b8055f084276ebb1ae"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::changeCoordinatesReference" ref="a3f9205a05b0a75b8055f084276ebb1ae" args="(const CPose3D &newReferenceBase)" -->
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<td class="memname">void mrpt::poses::CPose3DPDFParticles::changeCoordinatesReference </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"><em>newReferenceBase</em></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. </p>
<p>Result PDF substituted the currently stored one in the object. </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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<a class="anchor" id="aec1870d0f4607da2c6cb83c4325005a9"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::clearParticles" ref="aec1870d0f4607da2c6cb83c4325005a9" args="()" -->
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<td class="memname">void mrpt::bayes::CParticleFilterData::clearParticles </td>
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<td class="paramname"></td><td>)</td>
<td><code> [inline, inherited]</code></td>
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<p>Free the memory of all the particles and reset the array "m_particles" to length zero. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00072">72</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="a9ef7857a0b36059c078e195a0a65ac00"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::clone" ref="a9ef7857a0b36059c078e195a0a65ac00" args="() const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a>* mrpt::utils::CObject::clone </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Cloning interface for smart pointers. </p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable.html#acb2597d6d93b406501d9f3530eb56adf">mrpt::opengl::CRenderizable</a>, and <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#ac164cb1d2cf682778ce52967cbd56469">mrpt::opengl::CRenderizableDisplayList</a>.</p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00154">154</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="ae7468df83aa6ac4c3d616167036fd6d0"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::computeResampling" ref="ae7468df83aa6ac4c3d616167036fd6d0" args="(CParticleFilter::TParticleResamplingAlgorithm method, const vector_double &in_logWeights, std::vector< size_t > &out_indexes)" -->
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<td class="memname">static void mrpt::bayes::CParticleFilterCapable::computeResampling </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#a5a2e5c42fba6719b5f2f4b8fa1f4154c">CParticleFilter::TParticleResamplingAlgorithm</a> </td>
<td class="paramname"><em>method</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> & </td>
<td class="paramname"><em>in_logWeights</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classstd_1_1vector.html">std::vector</a>< size_t > & </td>
<td class="paramname"><em>out_indexes</em> </td>
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<td>)</td>
<td></td><td><code> [static, inherited]</code></td>
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<p>A static method to perform the computation of the samples resulting from resampling a given set of particles, given their logarithmic weights, and a resampling method. </p>
<p>It returns the sequence of indexes from the resampling. The number of output samples is the same than the input population. This generic method just computes these indexes, to actually perform a resampling in a particle filter object, call performResampling </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a72a3c11af8ca4b021ced0568d952c664" title="Performs a resample of the m_particles, using the method selected in the constructor.">performResampling</a> </dd></dl>
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<a class="anchor" id="a640df4a2472bc906e666c149728963a8"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::copyFrom" ref="a640df4a2472bc906e666c149728963a8" args="(const CPose3DPDF &o)" -->
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<td class="memname">void mrpt::poses::CPose3DPDFParticles::copyFrom </td>
<td>(</td>
<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>o</em></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Copy operator, translating if necesary (for example, between m_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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<a class="anchor" id="aab6ef12390df95db3a31a90400d4107f"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::Create" ref="aab6ef12390df95db3a31a90400d4107f" args="()" -->
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<td class="memname">static <a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles_ptr.html">CPose3DPDFParticlesPtr</a> mrpt::poses::CPose3DPDFParticles::Create </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static]</code></td>
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<a class="anchor" id="ae3668a18fc364b0f1b6ccb10cb6660ff"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::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>
<td class="paramname"><em>o</em></td><td>)</td>
<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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<td class="memname">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::poses::CPose3DPDFParticles::CreateObject </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static]</code></td>
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<a class="anchor" id="aca935576d796515781dfd8456f4c3025"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::defaultEvaluator" ref="aca935576d796515781dfd8456f4c3025" args="(const bayes::CParticleFilter::TParticleFilterOptions &PF_options, const CParticleFilterCapable *obj, size_t index, const void *action, const void *observation)" -->
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<td class="memname">static double mrpt::bayes::CParticleFilterCapable::defaultEvaluator </td>
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<td class="paramtype">const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> & </td>
<td class="paramname"><em>PF_options</em>, </td>
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<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html">CParticleFilterCapable</a> * </td>
<td class="paramname"><em>obj</em>, </td>
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<td class="paramtype">size_t </td>
<td class="paramname"><em>index</em>, </td>
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<td></td>
<td class="paramtype">const void * </td>
<td class="paramname"><em>action</em>, </td>
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<td class="paramtype">const void * </td>
<td class="paramname"><em>observation</em> </td>
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<td>)</td>
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<p>The default evaluator function, which simply returns the particle weight. </p>
<p>The action and the observation are declared as "void*" for a greater flexibility. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a02d7ff724a4b73d449a0f5dc28216e63" title="Prepares data structures for calling fastDrawSample method next.">prepareFastDrawSample</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_particle_filter_capable_8h_source.html#l00084">84</a> of file <a class="el" href="_c_particle_filter_capable_8h_source.html">CParticleFilterCapable.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00311">MRPT_UNUSED_PARAM</a>, and <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a6ca16ca0217cdac4b586df5df9cdaea2">mrpt::bayes::CParticleFilterCapable::getW()</a>.</p>
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<a class="anchor" id="af33f12350278b29b8292c10a313ef51d"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::drawManySamples" ref="af33f12350278b29b8292c10a313ef51d" args="(size_t N, std::vector< vector_double > &outSamples) const " -->
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<td class="memname">void mrpt::poses::CPose3DPDFParticles::drawManySamples </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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<p>Draws a single sample from the distribution. </p>
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<td class="memname">void mrpt::poses::CPose3DPDFParticles::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>
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<p>Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!) </p>
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<a class="anchor" id="a7304e3b9362d80754232877aacdaa808"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::duplicate" ref="a7304e3b9362d80754232877aacdaa808" args="() const " -->
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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::CPose3DPDFParticles::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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<a class="anchor" id="a534695890364f4b916bba07dad311bcf"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::duplicateGetSmartPtr" ref="a534695890364f4b916bba07dad311bcf" args="() const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> mrpt::utils::CObject::duplicateGetSmartPtr </td>
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<p>Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). </p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00151">151</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="afc87a617ea5582e4ba80bb3c065c4785"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::ESS" ref="afc87a617ea5582e4ba80bb3c065c4785" args="()=0" -->
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<td class="memname">virtual double mrpt::bayes::CParticleFilterCapable::ESS </td>
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<p>Returns the normalized ESS (Estimated Sample Size), in the range [0,1]. </p>
<p>Note that you do NOT need to normalize the weights before calling this. </p>
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<a class="anchor" id="afc4f93d0568e52e91227348baf7b242f"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::fastDrawSample" ref="afc4f93d0568e52e91227348baf7b242f" args="(const bayes::CParticleFilter::TParticleFilterOptions &PF_options) const " -->
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<td class="memname">size_t mrpt::bayes::CParticleFilterCapable::fastDrawSample </td>
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<td class="paramtype">const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> & </td>
<td class="paramname"><em>PF_options</em></td><td>)</td>
<td> const<code> [inherited]</code></td>
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<p>Draws a random sample from the particle filter, in such a way that each particle has a probability proportional to its weight (in the standard PF algorithm). </p>
<p>This method can be used to generate a variable number of m_particles when resampling: to vary the number of m_particles in the filter. See prepareFastDrawSample for more information, or the <a href="http://www.mrpt.org/Particle_Filters">Particle Filter tutorial</a>.</p>
<p>NOTES:</p>
<ul>
<li>You MUST call "prepareFastDrawSample" ONCE before calling this method. That method must be called after modifying the particle filter (executing one step, resampling, etc...)</li>
<li>This method returns ONE index for the selected ("drawn") particle, in the range [0,M-1]</li>
<li>You do not need to call "normalizeWeights" before calling this. <dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a02d7ff724a4b73d449a0f5dc28216e63" title="Prepares data structures for calling fastDrawSample method next.">prepareFastDrawSample</a> </dd></dl>
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<a class="anchor" id="a63b11435e6a63f018ac354ef32ffc3f4"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::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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<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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<td class="memname">OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DPDF::getAs3DObject </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#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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<a class="anchor" id="a76a1c94c45614ec2ab8f4b209d126745"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::getCovariance" ref="a76a1c94c45614ec2ab8f4b209d126745" args="(CMatrixDouble &cov) const " -->
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<td class="memname">void mrpt::utils::CProbabilityDensityFunction::getCovariance </td>
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<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> & </td>
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<p>Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getMean, getCovarianceAndMean </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00089">89</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
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<a class="anchor" id="a9ac7187b742c121c3338cb767b7994ba"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::getCovariance" ref="a9ac7187b742c121c3338cb767b7994ba" args="(CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const " -->
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<td class="memname">void mrpt::utils::CProbabilityDensityFunction::getCovariance </td>
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<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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<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::CPose3DPDFParticles::getCovarianceAndMean" ref="aef4a7a5d215e4c7e855286ad4a4d1bbe" args="(CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, TDATA &mean_point) const =0" -->
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<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::getCovarianceAndMean </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, STATE_LEN, STATE_LEN > & </td>
<td class="paramname"><em>cov</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">TDATA & </td>
<td class="paramname"><em>mean_point</em> </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>
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<a class="anchor" id="ab178f4a05a38330c8379dc0e4b700450"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::getCovarianceAndMean" ref="ab178f4a05a38330c8379dc0e4b700450" args="(CMatrixDouble66 &cov, CPose3D &mean_point) const " -->
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<td class="memname">void mrpt::poses::CPose3DPDFParticles::getCovarianceAndMean </td>
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<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a69ac788617e87d06107cd7a32a1352b7">CMatrixDouble66</a> & </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<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_particles.html#a2feb82dde38a79987878ee6766188dbc" title="Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed as a weighted average over all m_particles.">getMean</a> </dd></dl>
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<a class="anchor" id="a8a5db2a590d8fcd23408a3d8a8a1f76c"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::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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<p>Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getMean </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00069">69</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
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<a class="anchor" id="a311648912f182acf9fc0896208492216"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::getCovarianceEntropy" ref="a311648912f182acf9fc0896208492216" args="() const " -->
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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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<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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<p>Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF), computed as a weighted average over all m_particles. </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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<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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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> mrpt::poses::CPose3DPDFParticles::getMostLikelyParticle </td>
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<p>Returns the particle with the highest weight. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a814fc6f819c7e213c036467c14fbba66">mrpt::bayes::CParticleFilterData< CPose3D ></a>.</p>
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<a class="anchor" id="a473aea64d48e812c6fef0411150bc9fa"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::getParticlePose" ref="a473aea64d48e812c6fef0411150bc9fa" args="(int i) const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> mrpt::poses::CPose3DPDFParticles::getParticlePose </td>
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<p>Returns the pose of the i'th particle. </p>
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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::CPose3DPDFParticles::GetRuntimeClass </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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<p>Access to i'th particle (logarithm) weight, where first one is index 0. </p>
<p>Referenced by <a class="el" href="_c_particle_filter_capable_8h_source.html#l00084">mrpt::bayes::CParticleFilterCapable::defaultEvaluator()</a>.</p>
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<a class="anchor" id="a1197013292ffd4af22c539cac3304263"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::getWeights" ref="a1197013292ffd4af22c539cac3304263" args="(vector_double &out_logWeights) const " -->
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<td class="memname">void mrpt::bayes::CParticleFilterData::getWeights </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> & </td>
<td class="paramname"><em>out_logWeights</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Returns a vector with the sequence of the logaritmic weights of all the samples. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00127">127</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="afa31be67bd4e62815e4d2e6e595efeb4"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::inverse" ref="afa31be67bd4e62815e4d2e6e595efeb4" args="(CPose3DPDF &o) const " -->
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<td class="memname">void mrpt::poses::CPose3DPDFParticles::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::CPose3DPDFParticles::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::CPose3DPDFParticles::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="aea2fbc82bdf299a199d98692cc234fed"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::log2linearWeights" ref="aea2fbc82bdf299a199d98692cc234fed" args="(const vector_double &in_logWeights, vector_double &out_linWeights)" -->
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<td class="memname">static void mrpt::bayes::CParticleFilterCapable::log2linearWeights </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> & </td>
<td class="paramname"><em>in_logWeights</em>, </td>
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<td></td>
<td class="paramtype"><a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> & </td>
<td class="paramname"><em>out_linWeights</em> </td>
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<p>A static method to compute the linear, normalized (the sum the unity) weights from log-weights. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a72a3c11af8ca4b021ced0568d952c664" title="Performs a resample of the m_particles, using the method selected in the constructor.">performResampling</a> </dd></dl>
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<a class="anchor" id="a675b747939b1945bd16d6cee3f968c14"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::normalizeWeights" ref="a675b747939b1945bd16d6cee3f968c14" args="(double *out_max_log_w=NULL)=0" -->
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<td class="memname">virtual double mrpt::bayes::CParticleFilterCapable::normalizeWeights </td>
<td>(</td>
<td class="paramtype">double * </td>
<td class="paramname"><em>out_max_log_w</em> = <code>NULL</code></td><td>)</td>
<td><code> [pure virtual, inherited]</code></td>
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<p>Normalize the (logarithmic) weights, such as the maximum weight is zero. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out_max_log_w</td><td>If provided, will return with the maximum log_w before normalizing, such as new_weights = old_weights - max_log_w. </td></tr>
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</dd>
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<dl class="return"><dt><b>Returns:</b></dt><dd>The max/min ratio of weights ("dynamic range") </dd></dl>
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<a class="anchor" id="affbce151415e6f56b34e4c21b7a80aba"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::operator+=" ref="affbce151415e6f56b34e4c21b7a80aba" args="(const CPose3D &Ap)" -->
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<td class="memname">void mrpt::poses::CPose3DPDFParticles::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>Appends (pose-composition) a given pose "p" to each particle. </p>
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<a class="anchor" id="a70664baf3816bce82f06933270a5c8d1"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::particlesCount" ref="a70664baf3816bce82f06933270a5c8d1" args="() const =0" -->
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<td class="memname">virtual size_t mrpt::bayes::CParticleFilterCapable::particlesCount </td>
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<td> const<code> [pure virtual, inherited]</code></td>
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<p>Get the m_particles count. </p>
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<a class="anchor" id="a72a3c11af8ca4b021ced0568d952c664"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::performResampling" ref="a72a3c11af8ca4b021ced0568d952c664" args="(const bayes::CParticleFilter::TParticleFilterOptions &PF_options)" -->
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<td class="memname">void mrpt::bayes::CParticleFilterCapable::performResampling </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> & </td>
<td class="paramname"><em>PF_options</em></td><td>)</td>
<td><code> [inherited]</code></td>
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<p>Performs a resample of the m_particles, using the method selected in the constructor. </p>
<p>After computing the surviving samples, this method internally calls "performSubstitution" to actually perform the particle replacement. This method is called automatically by CParticleFilter::execute, andshould not be invoked manually normally. To just obtaining the sequence of resampled indexes from a sequence of weights, use "resample" </p>
<dl class="see"><dt><b>See also:</b></dt><dd>resample </dd></dl>
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<a class="anchor" id="a9f8e1f63a625dedcc5e5209dde04203f"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::performSubstitution" ref="a9f8e1f63a625dedcc5e5209dde04203f" args="(const std::vector< size_t > &indx)=0" -->
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<td class="memname">virtual void mrpt::bayes::CParticleFilterCapable::performSubstitution </td>
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<td class="paramtype">const <a class="el" href="classstd_1_1vector.html">std::vector</a>< size_t > & </td>
<td class="paramname"><em>indx</em></td><td>)</td>
<td><code> [pure virtual, inherited]</code></td>
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<p>Performs the substitution for internal use of resample in particle filter algorithm, don't call it directly. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">indx</td><td>The indices of current m_particles to be saved as the new m_particles set. </td></tr>
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<a class="anchor" id="a0b464ec72adbfc8a9aea3cf4aa6bdf9e"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::prediction_and_update" ref="a0b464ec72adbfc8a9aea3cf4aa6bdf9e" args="(const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)" -->
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<td class="memname">void mrpt::bayes::CParticleFilterCapable::prediction_and_update </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html">mrpt::slam::CActionCollection</a> * </td>
<td class="paramname"><em>action</em>, </td>
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<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">mrpt::slam::CSensoryFrame</a> * </td>
<td class="paramname"><em>observation</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> & </td>
<td class="paramname"><em>PF_options</em> </td>
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<td>)</td>
<td></td><td><code> [inherited]</code></td>
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<p>Performs the prediction stage of the Particle Filter. </p>
<p>This method simply selects the appropiate protected method according to the particle filter algorithm to run. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a06f7be77f50468af6e58c5514b911447" title="Performs the particle filter prediction/update stages for the algorithm "pfStandardProposal" (if no...">prediction_and_update_pfStandardProposal</a>,<a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a6c3422cab2911965e328101bf240414c" title="Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFStandard" (if...">prediction_and_update_pfAuxiliaryPFStandard</a>,<a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a0094d5dd370db9a037c67dde87649911" title="Performs the particle filter prediction/update stages for the algorithm "pfOptimalProposal" (if not...">prediction_and_update_pfOptimalProposal</a>,<a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#aeeccd563c344607e4cc96272c9817bd8" title="Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFOptimal" (if ...">prediction_and_update_pfAuxiliaryPFOptimal</a> </dd></dl>
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<a class="anchor" id="aeeccd563c344607e4cc96272c9817bd8"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::prediction_and_update_pfAuxiliaryPFOptimal" ref="aeeccd563c344607e4cc96272c9817bd8" args="(const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)" -->
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<td class="memname">virtual void mrpt::bayes::CParticleFilterCapable::prediction_and_update_pfAuxiliaryPFOptimal </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html">mrpt::slam::CActionCollection</a> * </td>
<td class="paramname"><em>action</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">mrpt::slam::CSensoryFrame</a> * </td>
<td class="paramname"><em>observation</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> & </td>
<td class="paramname"><em>PF_options</em> </td>
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<td>)</td>
<td></td><td><code> [protected, virtual, inherited]</code></td>
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<p>Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFOptimal" (if not implemented in heritated class, it will raise a 'non-implemented' exception). </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a0b464ec72adbfc8a9aea3cf4aa6bdf9e" title="Performs the prediction stage of the Particle Filter.">prediction_and_update</a> </dd></dl>
<p>Reimplemented in <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a78b180315cc2053366ffc323d70c47d3">mrpt::hmtslam::CLocalMetricHypothesis</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html#a6315a50c4e8384d6aa5416231072d27c">mrpt::slam::CMonteCarloLocalization2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#a51d0abaabb4271a42104d52611efdb3a">mrpt::slam::CMultiMetricMapPDF</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization3_d.html#a4453d4d38f11025d5e59bd745cac36de">mrpt::slam::CMonteCarloLocalization3D</a>.</p>
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<a class="anchor" id="a6c3422cab2911965e328101bf240414c"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::prediction_and_update_pfAuxiliaryPFStandard" ref="a6c3422cab2911965e328101bf240414c" args="(const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)" -->
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<td class="memname">virtual void mrpt::bayes::CParticleFilterCapable::prediction_and_update_pfAuxiliaryPFStandard </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html">mrpt::slam::CActionCollection</a> * </td>
<td class="paramname"><em>action</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">mrpt::slam::CSensoryFrame</a> * </td>
<td class="paramname"><em>observation</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> & </td>
<td class="paramname"><em>PF_options</em> </td>
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<td>)</td>
<td></td><td><code> [protected, virtual, inherited]</code></td>
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<p>Performs the particle filter prediction/update stages for the algorithm "pfAuxiliaryPFStandard" (if not implemented in heritated class, it will raise a 'non-implemented' exception). </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a0b464ec72adbfc8a9aea3cf4aa6bdf9e" title="Performs the prediction stage of the Particle Filter.">prediction_and_update</a> </dd></dl>
<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html#a3074ce8f8ecf530f127d62924c04a375">mrpt::slam::CMonteCarloLocalization2D</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization3_d.html#a760564d6b69f6657885554965242e124">mrpt::slam::CMonteCarloLocalization3D</a>.</p>
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<a class="anchor" id="a0094d5dd370db9a037c67dde87649911"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::prediction_and_update_pfOptimalProposal" ref="a0094d5dd370db9a037c67dde87649911" args="(const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)" -->
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<td class="memname">virtual void mrpt::bayes::CParticleFilterCapable::prediction_and_update_pfOptimalProposal </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html">mrpt::slam::CActionCollection</a> * </td>
<td class="paramname"><em>action</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">mrpt::slam::CSensoryFrame</a> * </td>
<td class="paramname"><em>observation</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> & </td>
<td class="paramname"><em>PF_options</em> </td>
</tr>
<tr>
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<td>)</td>
<td></td><td><code> [protected, virtual, inherited]</code></td>
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<p>Performs the particle filter prediction/update stages for the algorithm "pfOptimalProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception). </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a0b464ec72adbfc8a9aea3cf4aa6bdf9e" title="Performs the prediction stage of the Particle Filter.">prediction_and_update</a> </dd></dl>
<p>Reimplemented in <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#a0ff4807b7f76022508be551a47fdfb4a">mrpt::hmtslam::CLocalMetricHypothesis</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#ad4b68096ef09fab2fddac545f2f5cb1a">mrpt::slam::CMultiMetricMapPDF</a>.</p>
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<a class="anchor" id="a06f7be77f50468af6e58c5514b911447"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::prediction_and_update_pfStandardProposal" ref="a06f7be77f50468af6e58c5514b911447" args="(const mrpt::slam::CActionCollection *action, const mrpt::slam::CSensoryFrame *observation, const bayes::CParticleFilter::TParticleFilterOptions &PF_options)" -->
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<td class="memname">virtual void mrpt::bayes::CParticleFilterCapable::prediction_and_update_pfStandardProposal </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html">mrpt::slam::CActionCollection</a> * </td>
<td class="paramname"><em>action</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">mrpt::slam::CSensoryFrame</a> * </td>
<td class="paramname"><em>observation</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> & </td>
<td class="paramname"><em>PF_options</em> </td>
</tr>
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<td></td>
<td>)</td>
<td></td><td><code> [protected, virtual, inherited]</code></td>
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<p>Performs the particle filter prediction/update stages for the algorithm "pfStandardProposal" (if not implemented in heritated class, it will raise a 'non-implemented' exception). </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a0b464ec72adbfc8a9aea3cf4aa6bdf9e" title="Performs the prediction stage of the Particle Filter.">prediction_and_update</a> </dd></dl>
<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization2_d.html#afb789df37583e3e6fbc28246a38a5ccd">mrpt::slam::CMonteCarloLocalization2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#a5d0030387ffaf9ec50a17be06e477fb9">mrpt::slam::CMultiMetricMapPDF</a>, and <a class="el" href="classmrpt_1_1slam_1_1_c_monte_carlo_localization3_d.html#aecc3c96a277c773685141a464f799330">mrpt::slam::CMonteCarloLocalization3D</a>.</p>
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<a class="anchor" id="a02d7ff724a4b73d449a0f5dc28216e63"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::prepareFastDrawSample" ref="a02d7ff724a4b73d449a0f5dc28216e63" args="(const bayes::CParticleFilter::TParticleFilterOptions &PF_options, TParticleProbabilityEvaluator partEvaluator=defaultEvaluator, const void *action=NULL, const void *observation=NULL) const " -->
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<td class="memname">void mrpt::bayes::CParticleFilterCapable::prepareFastDrawSample </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> & </td>
<td class="paramname"><em>PF_options</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a6a77d17782b7527dd6cdd4e024ac9f1b">TParticleProbabilityEvaluator</a> </td>
<td class="paramname"><em>partEvaluator</em> = <code>defaultEvaluator</code>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">const void * </td>
<td class="paramname"><em>action</em> = <code>NULL</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const void * </td>
<td class="paramname"><em>observation</em> = <code>NULL</code> </td>
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<td></td>
<td>)</td>
<td></td><td> const<code> [inherited]</code></td>
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<p>Prepares data structures for calling fastDrawSample method next. </p>
<p>This method must be called once before using "fastDrawSample" (calling this more than once has no effect, but it takes time for nothing!) The behavior depends on the configuration of the PF (see <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html" title="The configuration of a particle filter.">CParticleFilter::TParticleFilterOptions</a>):</p>
<ul>
<li><b>DYNAMIC SAMPLE SIZE=NO</b>: In this case this method fills out an internal array (m_fastDrawAuxiliary.alreadyDrawnIndexes) with the random indexes generated according to the selected resample scheme in TParticleFilterOptions. Those indexes are read sequentially by subsequent calls to fastDrawSample.</li>
<li><b>DYNAMIC SAMPLE SIZE=YES</b>: Then:<ul>
<li>If TParticleFilterOptions.resamplingMethod = prMultinomial, the internal buffers will be filled out (m_fastDrawAuxiliary.CDF, CDF_indexes & PDF) and then fastDrawSample can be called an arbitrary number of times to generate random indexes.</li>
<li>For the rest of resampling algorithms, an exception will be raised since they are not appropriate for a dynamic (unknown in advance) number of particles.</li>
</ul>
</li>
</ul>
<p>The function pointed by "partEvaluator" should take into account the particle filter algorithm selected in "m_PFAlgorithm". If called without arguments (defaultEvaluator), the default behavior is to draw samples with a probability proportional to their current weights. The action and the observation are declared as "void*" for a greater flexibility. For a more detailed information see the <a href="http://www.mrpt.org/Particle_Filters">Particle Filter tutorial</a>. Custom supplied "partEvaluator" functions must take into account the previous particle weight, i.e. multiplying the current observation likelihood by the weights. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#afc4f93d0568e52e91227348baf7b242f" title="Draws a random sample from the particle filter, in such a way that each particle has a probability pr...">fastDrawSample</a> </dd></dl>
<p>Referenced by <a class="el" href="_p_f__implementations_8h_source.html#l00518">mrpt::slam::PF_implementation::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal()</a>.</p>
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<a class="anchor" id="a73ba83035a64939cdc3aa1c0dfed23ec"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::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></td>
<td class="paramtype">int </td>
<td class="paramname"><em>version</em> </td>
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<td>)</td>
<td></td><td><code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">in</td><td>The input binary stream where the object data must read from. </td></tr>
<tr><td class="paramname">version</td><td>The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d" title="Reads a block of bytes from the stream into Buffer On any error, or if ZERO bytes are read...">CStream::ReadBuffer</a> </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a0194e57ec48c1dfc6aa00c23d3409143">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a12db95e8c32d48d2d2483936dec516a7">mrpt::math::CMatrix</a>.</p>
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<a class="anchor" id="ad32e2f80aeab31b21184d7e1bde687bc"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::readParticlesFromStream" ref="ad32e2f80aeab31b21184d7e1bde687bc" args="(utils::CStream &in)" -->
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<td class="memname">void mrpt::bayes::CParticleFilterData::readParticlesFromStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">utils::CStream</a> & </td>
<td class="paramname"><em>in</em></td><td>)</td>
<td><code> [inline, inherited]</code></td>
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<p>Reads the sequence of particles and their weights from a stream (requires T implementing CSerializable). </p>
<dl class="see"><dt><b>See also:</b></dt><dd>writeParticlesToStream </dd></dl>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00107">107</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="a761ff9667b30e149ff9ea9afbd5573a4"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::resetDeterministic" ref="a761ff9667b30e149ff9ea9afbd5573a4" args="(const CPose3D &location, size_t particlesCount=0)" -->
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<td class="memname">void mrpt::poses::CPose3DPDFParticles::resetDeterministic </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>location</em>, </td>
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<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>particlesCount</em> = <code>0</code> </td>
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<p>Reset the PDF to a single point: All m_particles will be set exactly to the supplied pose. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">location</td><td>The location to set all the m_particles. </td></tr>
<tr><td class="paramname">particlesCount</td><td>If this is set to 0 the number of m_particles remains unchanged. </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd>resetUniform, resetUniformFreeSpace </dd></dl>
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<a class="anchor" id="a35d9df096da31899f614eeca0152a094"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::saveToTextFile" ref="a35d9df096da31899f614eeca0152a094" args="(const std::string &file) const " -->
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<td class="memname">void mrpt::poses::CPose3DPDFParticles::saveToTextFile </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>file</em></td><td>)</td>
<td> const<code> [virtual]</code></td>
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<p>Save PDF's m_particles to a text file. </p>
<p>In each line it will go: "x y z" </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="aecb3d0c17d29b4027a7eede17d2e0b8e"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::setW" ref="aecb3d0c17d29b4027a7eede17d2e0b8e" args="(size_t i, double w)=0" -->
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<td class="memname">virtual void mrpt::bayes::CParticleFilterCapable::setW </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>i</em>, </td>
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<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>w</em> </td>
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<td>)</td>
<td></td><td><code> [pure virtual, inherited]</code></td>
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<p>Modifies i'th particle (logarithm) weight, where first one is index 0. </p>
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<a class="anchor" id="af3f7be7ad74cf547b821dcf738ae7859"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::size" ref="af3f7be7ad74cf547b821dcf738ae7859" args="() const " -->
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<td class="memname">size_t mrpt::poses::CPose3DPDFParticles::size </td>
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<td> const<code> [inline]</code></td>
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<p>Get the m_particles count (equivalent to "particlesCount") </p>
<p>Definition at line <a class="el" href="_c_pose3_d_p_d_f_particles_8h_source.html#l00123">123</a> of file <a class="el" href="_c_pose3_d_p_d_f_particles_8h_source.html">CPose3DPDFParticles.h</a>.</p>
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<a class="anchor" id="ac5571368ccef88d4c205b43b9f6d630d"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::writeParticlesToStream" ref="ac5571368ccef88d4c205b43b9f6d630d" args="(utils::CStream &out) const " -->
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<td class="memname">void mrpt::bayes::CParticleFilterData::writeParticlesToStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">utils::CStream</a> & </td>
<td class="paramname"><em>out</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Dumps the sequence of particles and their weights to a stream (requires T implementing CSerializable). </p>
<dl class="see"><dt><b>See also:</b></dt><dd>readParticlesFromStream </dd></dl>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00093">93</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="a0b6b801e67bca3d8e0d355e7035f8013"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::writeToStream" ref="a0b6b801e67bca3d8e0d355e7035f8013" args="(mrpt::utils::CStream &out, int *getVersion) const =0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::writeToStream </td>
<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>out</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int * </td>
<td class="paramname"><em>getVersion</em> </td>
</tr>
<tr>
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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>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a767e787b52208ab4dd46ba7f5e2fd224">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a059d7eaf80dab9c7435154146d2b7dbf">mrpt::math::CMatrix</a>.</p>
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<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="a6fec28a53e20dfc1c4d046c26f9f7b48"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::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="aeecc61db6a9d7bce567a056e57ea450f"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::_init_CPose3DPDFParticles" ref="aeecc61db6a9d7bce567a056e57ea450f" 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_particles.html#aeecc61db6a9d7bce567a056e57ea450f">mrpt::poses::CPose3DPDFParticles::_init_CPose3DPDFParticles</a><code> [static, protected]</code></td>
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<p>Definition at line <a class="el" href="_c_pose3_d_p_d_f_particles_8h_source.html#l00066">66</a> of file <a class="el" href="_c_pose3_d_p_d_f_particles_8h_source.html">CPose3DPDFParticles.h</a>.</p>
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<a class="anchor" id="acb51e4dd811d62c2696aee449d0a4715"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::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::CPose3DPDFParticles::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="aa1443b4aed8831c4252cedd3ce74b4cf"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::classCPose3DPDFParticles" ref="aa1443b4aed8831c4252cedd3ce74b4cf" 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_particles.html#aa1443b4aed8831c4252cedd3ce74b4cf">mrpt::poses::CPose3DPDFParticles::classCPose3DPDFParticles</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_pose3_d_p_d_f_particles_8h_source.html#l00066">66</a> of file <a class="el" href="_c_pose3_d_p_d_f_particles_8h_source.html">CPose3DPDFParticles.h</a>.</p>
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<a class="anchor" id="a28ec2a03d277a8469b8ecfc81892afdf"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::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="a79a336548c8a2cb3891609244bec1ad8"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::classinfo" ref="a79a336548c8a2cb3891609244bec1ad8" 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_particles.html#a79a336548c8a2cb3891609244bec1ad8">mrpt::poses::CPose3DPDFParticles::classinfo</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_pose3_d_p_d_f_particles_8h_source.html#l00066">66</a> of file <a class="el" href="_c_pose3_d_p_d_f_particles_8h_source.html">CPose3DPDFParticles.h</a>.</p>
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<a class="anchor" id="a0f9ce972442bcd3324711dd2211ce659"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::m_fastDrawAuxiliary" ref="a0f9ce972442bcd3324711dd2211ce659" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_capable_1_1_t_fast_draw_aux_vars.html">TFastDrawAuxVars</a> <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a0f9ce972442bcd3324711dd2211ce659">mrpt::bayes::CParticleFilterCapable::m_fastDrawAuxiliary</a><code> [mutable, protected, inherited]</code></td>
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<p>Auxiliary vectors, see <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a02d7ff724a4b73d449a0f5dc28216e63" title="Prepares data structures for calling fastDrawSample method next.">CParticleFilterCapable::prepareFastDrawSample</a> for more information. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_capable_8h_source.html#l00249">249</a> of file <a class="el" href="_c_particle_filter_capable_8h_source.html">CParticleFilterCapable.h</a>.</p>
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<a class="anchor" id="af8bb2dfdacf54929213c8f905cdec000"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::m_particles" ref="af8bb2dfdacf54929213c8f905cdec000" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#a455efc0962577f042b38590f36583537">CParticleList</a> <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_data.html#af8bb2dfdacf54929213c8f905cdec000">mrpt::bayes::CParticleFilterData::m_particles</a><code> [inherited]</code></td>
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<p>The array of particles. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_data_8h_source.html#l00064">64</a> of file <a class="el" href="_c_particle_filter_data_8h_source.html">CParticleFilterData.h</a>.</p>
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<a class="anchor" id="a77a06347b68aa3c08de63c790d88eb12"></a><!-- doxytag: member="mrpt::poses::CPose3DPDFParticles::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>
