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<a href="#pub-types">Public Types</a> |
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<div class="title">mrpt::poses::CPose3DQuatPDFGaussian 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::CPose3DQuatPDFGaussian" --><!-- doxytag: inherits="mrpt::poses::CPose3DQuatPDF" --><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 using a quaternion <img class="formulaInl" alt="$ p(\mathbf{x}) = [x ~ y ~ z ~ qr ~ qx ~ qy ~ qz]^\top $" src="form_67.png"/>. </p>
<p>This class implements that PDF using a mono-modal Gaussian distribution. See <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">mrpt::poses::CPose3DQuatPDF</a> for more details, or <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">mrpt::poses::CPose3DPDF</a> for classes based on Euler angles instead.</p>
<p>Uncertainty of pose composition operations ( <img class="formulaInl" alt="$ y = x \oplus u $" src="form_62.png"/>) is implemented in the methods "CPose3DQuatPDFGaussian::operator+=" and "CPose3DQuatPDFGaussian::jacobiansPoseComposition".</p>
<p>For further details on implemented methods and the theory behind them, see <a href="http://www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty">this report</a>.</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html" title="A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz).">CPose3DQuat</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">CPose3DQuatPDF</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> </dd></dl>
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<p><code>#include <<a class="el" href="_c_pose3_d_quat_p_d_f_gaussian_8h_source.html">mrpt/poses/CPose3DQuatPDFGaussian.h</a>></code></p>
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Inheritance diagram for mrpt::poses::CPose3DQuatPDFGaussian:</div>
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<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_quat_p_d_f_gaussian-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef TDATA </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#ab4d442c6713a2aaac04cf79bee93c251">type_value</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The type of the state the PDF represents. <a href="#ab4d442c6713a2aaac04cf79bee93c251"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#a0525cb9e72f2d2fde6879e3a23970803">CPose3DQuatPDFGaussian</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor - set all values to zero. <a href="#a0525cb9e72f2d2fde6879e3a23970803"></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_quat_p_d_f_gaussian.html#a62f17c6b9929e43ad69d3655f7e712cc">CPose3DQuatPDFGaussian</a> (<a class="el" href="namespacemrpt_1_1math.html#a8ab289d85828809b390d477f824a908a">TConstructorFlags_Quaternions</a> constructor_dummy_param)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor which left all the member uninitialized, for using when speed is critical - as argument, use UNINITIALIZED_QUATERNION. <a href="#a62f17c6b9929e43ad69d3655f7e712cc"></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_quat_p_d_f_gaussian.html#ac0a5c6eb579f249d030c790aed288205">CPose3DQuatPDFGaussian</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> &init_Mean)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor from a default mean value, covariance equals to zero. <a href="#ac0a5c6eb579f249d030c790aed288205"></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_quat_p_d_f_gaussian.html#a144a7981dfb38d9927c2bfd5d46d5976">CPose3DQuatPDFGaussian</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> &init_Mean, const <a class="el" href="namespacemrpt_1_1math.html#aed1f2021f6c0dc0dd77a96972acaf43a">CMatrixDouble77</a> &init_Cov)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor with mean and covariance. <a href="#a144a7981dfb38d9927c2bfd5d46d5976"></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_quat_p_d_f_gaussian.html#a0fda5f4c9470dc1eb735cb4b67e1373e">CPose3DQuatPDFGaussian</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html">CPosePDFGaussian</a> &o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables). <a href="#a0fda5f4c9470dc1eb735cb4b67e1373e"></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_quat_p_d_f_gaussian.html#ab3246934cb6feb9349aaf4130fbc9f70">CPose3DQuatPDFGaussian</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html">CPose3DPDFGaussian</a> &o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor from an equivalent Gaussian in Euler angles representation. <a href="#ab3246934cb6feb9349aaf4130fbc9f70"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#a28a201422f17bc2ae791df2d5c579869">getPoseMean</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#a6760357089cf6026acb8fe66a54b544a">getPoseMean</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#a2de8a38d2ddda3f723ac01c92295620a">getMean</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> &mean_pose) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). <a href="#a2de8a38d2ddda3f723ac01c92295620a"></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_quat_p_d_f_gaussian.html#ac0ff19e3debdbe04272f578b3dbd8d9c">getCovarianceAndMean</a> (<a class="el" href="namespacemrpt_1_1math.html#aed1f2021f6c0dc0dd77a96972acaf43a">CMatrixDouble77</a> &<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#a98e9ac30bf4e14e62d00dd5096734469">cov</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> &mean_point) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an estimate of the pose covariance matrix (7x7 cov matrix) and the mean, both at once. <a href="#ac0ff19e3debdbe04272f578b3dbd8d9c"></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_quat_p_d_f_gaussian.html#a581b00cf10b0c74ec442eeeee97de497">copyFrom</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f.html">CPose3DQuatPDF</a> &o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Copy operator, translating if necesary (for example, between particles and gaussian representations) <a href="#a581b00cf10b0c74ec442eeeee97de497"></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_quat_p_d_f_gaussian.html#a7f15197bf108fdc040b58578947a33cd">copyFrom</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html">CPosePDF</a> &o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Copy operator, translating if necesary (for example, between particles and gaussian representations) <a href="#a7f15197bf108fdc040b58578947a33cd"></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_quat_p_d_f_gaussian.html#af76ea6325729d7c5e1dc171277e36802">copyFrom</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html">CPose3DPDFGaussian</a> &o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Copy operator, translating if necesary (for example, between particles and gaussian representations) <a href="#af76ea6325729d7c5e1dc171277e36802"></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_quat_p_d_f_gaussian.html#a847f311f6701885163930974e1ab5df3">saveToTextFile</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &file) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save the PDF to a text file, containing the 3D pose in the first line (x y z qr qx qy qz), then the covariance matrix in the next 7 lines. <a href="#a847f311f6701885163930974e1ab5df3"></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_quat_p_d_f_gaussian.html#a9e1ff4a4d57b47d956dc9cee69fb5750">changeCoordinatesReference</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</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="#a9e1ff4a4d57b47d956dc9cee69fb5750"></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_quat_p_d_f_gaussian.html#a59c0205aea68cf7a2a39b326030e5b80">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="#a59c0205aea68cf7a2a39b326030e5b80"></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_quat_p_d_f_gaussian.html#adcd3efa17d5d670601296dc620e3fa82">drawSingleSample</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> &outPart) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draws a single sample from the distribution. <a href="#adcd3efa17d5d670601296dc620e3fa82"></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_quat_p_d_f_gaussian.html#add75ad35e3dbc6e8f5ed4215a8126f38">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 1x7 vectors, where each row contains a (x,y,z,qr,qx,qy,qz) datum. <a href="#add75ad35e3dbc6e8f5ed4215a8126f38"></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_quat_p_d_f_gaussian.html#a0412cb799f10afb7eefb04cf8acd5ef1">bayesianFusion</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f.html">CPose3DQuatPDF</a> &p1, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f.html">CPose3DQuatPDF</a> &p2)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Bayesian fusion of two points gauss. <a href="#a0412cb799f10afb7eefb04cf8acd5ef1"></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_quat_p_d_f_gaussian.html#a5cd9c8c0ae61c9722470f37fdb13dc82">inverse</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f.html">CPose3DQuatPDF</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="#a5cd9c8c0ae61c9722470f37fdb13dc82"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html">CPose3DQuatPDFGaussian</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#ab6cab269d16e848e6f5f8032a56a673d">operator-</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Unary - operator, returns the PDF of the inverse pose. <a href="#ab6cab269d16e848e6f5f8032a56a673d"></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_quat_p_d_f_gaussian.html#a76378f723918dc8ac1c0b53633f78bc5">operator+=</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> &Ap)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). <a href="#a76378f723918dc8ac1c0b53633f78bc5"></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_quat_p_d_f_gaussian.html#a9615e72b0ecb0b0ff8fa599bbbdc6b0c">operator+=</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html">CPose3DQuatPDFGaussian</a> &Ap)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ). <a href="#a9615e72b0ecb0b0ff8fa599bbbdc6b0c"></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_quat_p_d_f_gaussian.html#a11ea18b69e90b0ed3b0f26a273be545b">operator-=</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html">CPose3DQuatPDFGaussian</a> &Ap)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated). <a href="#a11ea18b69e90b0ed3b0f26a273be545b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#a2bf67def3b591bd6d3a6d9af85bbe5fe">evaluatePDF</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> &x) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Evaluates the PDF at a given point. <a href="#a2bf67def3b591bd6d3a6d9af85bbe5fe"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#a0a077ed3346933cd698b9e40e73a5c38">evaluateNormalizedPDF</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> &x) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]. <a href="#a0a077ed3346933cd698b9e40e73a5c38"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#a3dc573028317451f63169041f240bd19">mahalanobisDistanceTo</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html">CPose3DQuatPDFGaussian</a> &theOther)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the Mahalanobis distance between the centers of two Gaussians. <a href="#a3dc573028317451f63169041f240bd19"></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_quat_p_d_f.html#ab4ebebf9485149c0324af75f605693cb">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="#ab4ebebf9485149c0324af75f605693cb"></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_quat_p_d_f.html#ac62f11223313575835c60f7caa6f8c50">getAs3DObject</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a 3D representation of this PDF. <a href="#ac62f11223313575835c60f7caa6f8c50"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a534695890364f4b916bba07dad311bcf">duplicateGetSmartPtr</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). <a href="#a534695890364f4b916bba07dad311bcf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a9ef7857a0b36059c078e195a0a65ac00">clone</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cloning interface for smart pointers. <a href="#a9ef7857a0b36059c078e195a0a65ac00"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#afc168fcbcba4191a0e64fc2a3b7c4c78">getMean</a> (TDATA &mean_point) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the mean, or mathematical expectation of the probability density distribution (PDF). <a href="#afc168fcbcba4191a0e64fc2a3b7c4c78"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aef4a7a5d215e4c7e855286ad4a4d1bbe">getCovarianceAndMean</a> (<a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, STATE_LEN, STATE_LEN > &<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#a98e9ac30bf4e14e62d00dd5096734469">cov</a>, TDATA &mean_point) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. <a href="#aef4a7a5d215e4c7e855286ad4a4d1bbe"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a8a5db2a590d8fcd23408a3d8a8a1f76c">getCovarianceDynAndMean</a> (<a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> &<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#a98e9ac30bf4e14e62d00dd5096734469">cov</a>, TDATA &mean_point) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. <a href="#a8a5db2a590d8fcd23408a3d8a8a1f76c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">TDATA </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#ad6c0c9844ac63db9c793652e4619c549">getMeanVal</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the mean, or mathematical expectation of the probability density distribution (PDF). <a href="#ad6c0c9844ac63db9c793652e4619c549"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a76a1c94c45614ec2ab8f4b209d126745">getCovariance</a> (<a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> &<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#a98e9ac30bf4e14e62d00dd5096734469">cov</a>) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) <a href="#a76a1c94c45614ec2ab8f4b209d126745"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a9ac7187b742c121c3338cb767b7994ba">getCovariance</a> (<a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, STATE_LEN, STATE_LEN > &<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#a98e9ac30bf4e14e62d00dd5096734469">cov</a>) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) <a href="#a9ac7187b742c121c3338cb767b7994ba"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, <br class="typebreak"/>
STATE_LEN, STATE_LEN > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a689312caf79ee5268fa913e3fa5c82c0">getCovariance</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) <a href="#a689312caf79ee5268fa913e3fa5c82c0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#ae8879d10e9d7a6c94211dd0ffffc4c9d">drawSingleSample</a> (TDATA &outPart) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draws a single sample from the distribution. <a href="#ae8879d10e9d7a6c94211dd0ffffc4c9d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a311648912f182acf9fc0896208492216">getCovarianceEntropy</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Compute the entropy of the estimated covariance matrix. <a href="#a311648912f182acf9fc0896208492216"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#aa35605ffc24f236aafdc4900d56c03fe">jacobiansPoseComposition</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> &x, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> &u, <a class="el" href="namespacemrpt_1_1math.html#aed1f2021f6c0dc0dd77a96972acaf43a">CMatrixDouble77</a> &df_dx, <a class="el" href="namespacemrpt_1_1math.html#aed1f2021f6c0dc0dd77a96972acaf43a">CMatrixDouble77</a> &df_du, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> *out_x_oplus_u=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This static method computes the two Jacobians of a pose composition operation $f(x,u)= x u$. <a href="#aa35605ffc24f236aafdc4900d56c03fe"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f.html">CPose3DQuatPDF</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f.html#aa94ea9ff4c15a83885d245b4aae08393">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_quat_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">CPose3DQuatPDF</a>. <a href="#aa94ea9ff4c15a83885d245b4aae08393"></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_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#a3c04628f52823fb9046a9ef1998c6020">mean</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The mean value. <a href="#a3c04628f52823fb9046a9ef1998c6020"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1math.html#aed1f2021f6c0dc0dd77a96972acaf43a">CMatrixDouble77</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#a98e9ac30bf4e14e62d00dd5096734469">cov</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The 7x7 covariance matrix. <a href="#a98e9ac30bf4e14e62d00dd5096734469"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-attribs"></a>
Static Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">classCObject</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a77a06347b68aa3c08de63c790d88eb12">state_length</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). <a href="#a77a06347b68aa3c08de63c790d88eb12"></a><br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">RTTI stuff</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">classCSerializable</a></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#a413a8dacbabae53d5a9945f300bde4f7">assureSymmetry</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!) <a href="#a413a8dacbabae53d5a9945f300bde4f7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a0b6b801e67bca3d8e0d355e7035f8013">writeToStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &out, int *getVersion) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. <a href="#a0b6b801e67bca3d8e0d355e7035f8013"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a73ba83035a64939cdc3aa1c0dfed23ec">readFromStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, int version)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. <a href="#a73ba83035a64939cdc3aa1c0dfed23ec"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f.html#aa64e2b5d955b568129b79ff61a5f2cde">classCPose3DQuatPDF</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_quat_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::utils::CStream</a></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian_ptr.html">CPose3DQuatPDFGaussianPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#a3e95d8a65a7acead6d42037945d5013a">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_quat_p_d_f_gaussian.html#a8265affbe3276490966b0c0dcbe8b04c">_init_CPose3DQuatPDFGaussian</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_quat_p_d_f_gaussian.html#ad8812e14e61d65dfe68a9772a64a95c6">classCPose3DQuatPDFGaussian</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_quat_p_d_f_gaussian.html#a9116ea8b2a4ab5f1a7aa62545266ed5d">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_quat_p_d_f_gaussian.html#abc73197606fa14b0ec8596c18f3b4d2d">_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_quat_p_d_f_gaussian.html#adaf430914145be621d47f74890f5559d">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="#adaf430914145be621d47f74890f5559d"></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_quat_p_d_f_gaussian.html#ad33b8d9da7a6f510520c342cb1ba81bd">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="#ad33b8d9da7a6f510520c342cb1ba81bd"></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_quat_p_d_f_gaussian.html#a110087115fdcf17215cb06b9c110b65e">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_quat_p_d_f_gaussian_ptr.html">CPose3DQuatPDFGaussianPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#acf13a7e8b0e135245e79d12b2c8f6d2f">Create</a> ()</td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a3e95d8a65a7acead6d42037945d5013a"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::SmartPtr" ref="a3e95d8a65a7acead6d42037945d5013a" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian_ptr.html">CPose3DQuatPDFGaussianPtr</a> <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#a3e95d8a65a7acead6d42037945d5013a">mrpt::poses::CPose3DQuatPDFGaussian::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_quat_p_d_f_gaussian_8h_source.html#l00061">61</a> of file <a class="el" href="_c_pose3_d_quat_p_d_f_gaussian_8h_source.html">CPose3DQuatPDFGaussian.h</a>.</p>
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<a class="anchor" id="ab4d442c6713a2aaac04cf79bee93c251"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::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>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a0525cb9e72f2d2fde6879e3a23970803"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian" ref="a0525cb9e72f2d2fde6879e3a23970803" args="()" -->
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<td class="memname">mrpt::poses::CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian </td>
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<p>Default constructor - set all values to zero. </p>
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<a class="anchor" id="a62f17c6b9929e43ad69d3655f7e712cc"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian" ref="a62f17c6b9929e43ad69d3655f7e712cc" args="(TConstructorFlags_Quaternions constructor_dummy_param)" -->
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<td class="memname">mrpt::poses::CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a8ab289d85828809b390d477f824a908a">TConstructorFlags_Quaternions</a> </td>
<td class="paramname"><em>constructor_dummy_param</em></td><td>)</td>
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<p>Constructor which left all the member uninitialized, for using when speed is critical - as argument, use UNINITIALIZED_QUATERNION. </p>
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<a class="anchor" id="ac0a5c6eb579f249d030c790aed288205"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian" ref="ac0a5c6eb579f249d030c790aed288205" args="(const CPose3DQuat &init_Mean)" -->
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<td class="memname">mrpt::poses::CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> & </td>
<td class="paramname"><em>init_Mean</em></td><td>)</td>
<td><code> [explicit]</code></td>
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<p>Constructor from a default mean value, covariance equals to zero. </p>
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<a class="anchor" id="a144a7981dfb38d9927c2bfd5d46d5976"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian" ref="a144a7981dfb38d9927c2bfd5d46d5976" args="(const CPose3DQuat &init_Mean, const CMatrixDouble77 &init_Cov)" -->
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> & </td>
<td class="paramname"><em>init_Mean</em>, </td>
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<td class="paramtype">const <a class="el" href="namespacemrpt_1_1math.html#aed1f2021f6c0dc0dd77a96972acaf43a">CMatrixDouble77</a> & </td>
<td class="paramname"><em>init_Cov</em> </td>
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<p>Constructor with mean and covariance. </p>
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<a class="anchor" id="a0fda5f4c9470dc1eb735cb4b67e1373e"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian" ref="a0fda5f4c9470dc1eb735cb4b67e1373e" args="(const CPosePDFGaussian &o)" -->
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<td class="memname">mrpt::poses::CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html">CPosePDFGaussian</a> & </td>
<td class="paramname"><em>o</em></td><td>)</td>
<td><code> [explicit]</code></td>
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<p>Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables). </p>
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<a class="anchor" id="ab3246934cb6feb9349aaf4130fbc9f70"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian" ref="ab3246934cb6feb9349aaf4130fbc9f70" args="(const CPose3DPDFGaussian &o)" -->
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<td class="memname">mrpt::poses::CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html">CPose3DPDFGaussian</a> & </td>
<td class="paramname"><em>o</em></td><td>)</td>
<td><code> [explicit]</code></td>
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<p>Constructor from an equivalent Gaussian in Euler angles representation. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="abc73197606fa14b0ec8596c18f3b4d2d"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::_GetBaseClass" ref="abc73197606fa14b0ec8596c18f3b4d2d" 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::CPose3DQuatPDFGaussian::_GetBaseClass </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static, protected]</code></td>
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<p>Reimplemented from <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f.html#a8fe1bc47f91c792ad3638aaae10e7de2">mrpt::poses::CPose3DQuatPDF</a>.</p>
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<a class="anchor" id="a413a8dacbabae53d5a9945f300bde4f7"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::assureSymmetry" ref="a413a8dacbabae53d5a9945f300bde4f7" args="()" -->
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<td class="memname">void mrpt::poses::CPose3DQuatPDFGaussian::assureSymmetry </td>
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<td><code> [protected]</code></td>
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<p>Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!) </p>
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<a class="anchor" id="a0412cb799f10afb7eefb04cf8acd5ef1"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::bayesianFusion" ref="a0412cb799f10afb7eefb04cf8acd5ef1" args="(const CPose3DQuatPDF &p1, const CPose3DQuatPDF &p2)" -->
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<td class="memname">void mrpt::poses::CPose3DQuatPDFGaussian::bayesianFusion </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f.html">CPose3DQuatPDF</a> & </td>
<td class="paramname"><em>p1</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f.html">CPose3DQuatPDF</a> & </td>
<td class="paramname"><em>p2</em> </td>
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<td></td><td><code> [virtual]</code></td>
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<p>Bayesian fusion of two points gauss. </p>
<p>distributions, then save the result in this object. The process is as follows:<br/>
</p>
<ul>
<li>(x1,S1): Mean and variance of the p1 distribution.</li>
<li>(x2,S2): Mean and variance of the p2 distribution.</li>
<li>(x,S): Mean and variance of the resulting distribution.</li>
</ul>
<p>S = (S1<sup>-1</sup> + S2<sup>-1</sup>)<sup>-1</sup>; x = S * ( S1<sup>-1</sup>*x1 + S2<sup>-1</sup>*x2 ); </p>
<p>Implements <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f.html#a45694ec4703e01bbd1de8ed10ee67f63">mrpt::poses::CPose3DQuatPDF</a>.</p>
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<a class="anchor" id="a9e1ff4a4d57b47d956dc9cee69fb5750"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::changeCoordinatesReference" ref="a9e1ff4a4d57b47d956dc9cee69fb5750" args="(const CPose3DQuat &newReferenceBase)" -->
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<td class="memname">void mrpt::poses::CPose3DQuatPDFGaussian::changeCoordinatesReference </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> & </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>
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<a class="anchor" id="a59c0205aea68cf7a2a39b326030e5b80"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::changeCoordinatesReference" ref="a59c0205aea68cf7a2a39b326030e5b80" args="(const CPose3D &newReferenceBase)" -->
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<td class="memname">void mrpt::poses::CPose3DQuatPDFGaussian::changeCoordinatesReference </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<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< CPose3DQuat, 7 ></a>.</p>
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<a class="anchor" id="a9ef7857a0b36059c078e195a0a65ac00"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::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>
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<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="a581b00cf10b0c74ec442eeeee97de497"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::copyFrom" ref="a581b00cf10b0c74ec442eeeee97de497" args="(const CPose3DQuatPDF &o)" -->
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<td class="paramname"><em>o</em></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Copy operator, translating if necesary (for example, between particles and gaussian representations) </p>
<p>Implements <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f.html#ae7342cd102896846ae6bff69cdd53674">mrpt::poses::CPose3DQuatPDF</a>.</p>
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<td class="memname">void mrpt::poses::CPose3DQuatPDFGaussian::copyFrom </td>
<td>(</td>
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<p>Copy operator, translating if necesary (for example, between particles and gaussian representations) </p>
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<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html">CPose3DPDFGaussian</a> & </td>
<td class="paramname"><em>o</em></td><td>)</td>
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<p>Copy operator, translating if necesary (for example, between particles and gaussian representations) </p>
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<a class="anchor" id="acf13a7e8b0e135245e79d12b2c8f6d2f"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::Create" ref="acf13a7e8b0e135245e79d12b2c8f6d2f" args="()" -->
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<td class="memname">static <a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian_ptr.html">CPose3DQuatPDFGaussianPtr</a> mrpt::poses::CPose3DQuatPDFGaussian::Create </td>
<td>(</td>
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<td><code> [static]</code></td>
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<a class="anchor" id="aa94ea9ff4c15a83885d245b4aae08393"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::createFrom2D" ref="aa94ea9ff4c15a83885d245b4aae08393" args="(const CPosePDF &o)" -->
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<td class="memname">static <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f.html">CPose3DQuatPDF</a>* mrpt::poses::CPose3DQuatPDF::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_quat_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">CPose3DQuatPDF</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_quat_p_d_f.html#ae7342cd102896846ae6bff69cdd53674" title="Copy operator, translating if necesary (for example, between particles and gaussian representations)...">copyFrom</a> </dd></dl>
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<a class="anchor" id="a110087115fdcf17215cb06b9c110b65e"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::CreateObject" ref="a110087115fdcf17215cb06b9c110b65e" args="()" -->
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<td class="memname">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::poses::CPose3DQuatPDFGaussian::CreateObject </td>
<td>(</td>
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<td><code> [static]</code></td>
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<a class="anchor" id="add75ad35e3dbc6e8f5ed4215a8126f38"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::drawManySamples" ref="add75ad35e3dbc6e8f5ed4215a8126f38" args="(size_t N, std::vector< vector_double > &outSamples) const " -->
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<td class="memname">void mrpt::poses::CPose3DQuatPDFGaussian::drawManySamples </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>N</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>< <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 1x7 vectors, where each row contains a (x,y,z,qr,qx,qy,qz) datum. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aa437cf2c11cb0e937e851a0f498a4fb2">mrpt::utils::CProbabilityDensityFunction< CPose3DQuat, 7 ></a>.</p>
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<a class="anchor" id="ae8879d10e9d7a6c94211dd0ffffc4c9d"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::drawSingleSample" ref="ae8879d10e9d7a6c94211dd0ffffc4c9d" args="(TDATA &outPart) const =0" -->
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<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::drawSingleSample </td>
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<td class="paramtype">TDATA & </td>
<td class="paramname"><em>outPart</em></td><td>)</td>
<td> const<code> [pure virtual, inherited]</code></td>
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<p>Draws a single sample from the distribution. </p>
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<td class="memname">void mrpt::poses::CPose3DQuatPDFGaussian::drawSingleSample </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> & </td>
<td class="paramname"><em>outPart</em></td><td>)</td>
<td> const</td>
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<p>Draws a single sample from the distribution. </p>
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<a class="anchor" id="ad33b8d9da7a6f510520c342cb1ba81bd"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::duplicate" ref="ad33b8d9da7a6f510520c342cb1ba81bd" 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::CPose3DQuatPDFGaussian::duplicate </td>
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<p>Returns a copy of the object, indepently of its class. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#aa1070e173c5f7e307b09c53f1fd256e2">mrpt::utils::CObject</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> mrpt::utils::CObject::duplicateGetSmartPtr </td>
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<p>Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). </p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00151">151</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="a0a077ed3346933cd698b9e40e73a5c38"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::evaluateNormalizedPDF" ref="a0a077ed3346933cd698b9e40e73a5c38" args="(const CPose3DQuat &x) const " -->
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<td class="memname">double mrpt::poses::CPose3DQuatPDFGaussian::evaluateNormalizedPDF </td>
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<td class="paramname"><em>x</em></td><td>)</td>
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<p>Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]. </p>
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<td class="memname">double mrpt::poses::CPose3DQuatPDFGaussian::evaluatePDF </td>
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<td class="paramname"><em>x</em></td><td>)</td>
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<p>Evaluates the PDF at a given point. </p>
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<a class="anchor" id="ab4ebebf9485149c0324af75f605693cb"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::getAs3DObject" ref="ab4ebebf9485149c0324af75f605693cb" args="(OPENGL_SETOFOBJECTSPTR &out_obj) const " -->
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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_quat_p_d_f_8h_source.html#l00092">92</a> of file <a class="el" href="_c_pose3_d_quat_p_d_f_8h_source.html">CPose3DQuatPDF.h</a>.</p>
<p>References <a class="el" href="pose__pdfs_8h_source.html#l00042">mrpt::opengl::posePDF2opengl()</a>.</p>
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template<class OPENGL_SETOFOBJECTSPTR > </div>
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<td class="memname">OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DQuatPDF::getAs3DObject </td>
<td>(</td>
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<td> const<code> [inline, inherited]</code></td>
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<p>Returns a 3D representation of this PDF. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>Needs the mrpt-opengl library, and using <a class="el" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">mrpt::opengl::CSetOfObjectsPtr</a> as template argument. </dd></dl>
<p>Definition at line <a class="el" href="_c_pose3_d_quat_p_d_f_8h_source.html#l00101">101</a> of file <a class="el" href="_c_pose3_d_quat_p_d_f_8h_source.html">CPose3DQuatPDF.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::CPose3DQuatPDFGaussian::getCovariance" ref="a76a1c94c45614ec2ab8f4b209d126745" args="(CMatrixDouble &cov) const " -->
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<td class="memname">void mrpt::utils::CProbabilityDensityFunction::getCovariance </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> & </td>
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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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<td class="memname">void mrpt::utils::CProbabilityDensityFunction::getCovariance </td>
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<p>Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getMean, getCovarianceAndMean </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#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::CPose3DQuatPDFGaussian::getCovarianceAndMean" ref="aef4a7a5d215e4c7e855286ad4a4d1bbe" args="(CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, TDATA &mean_point) const =0" -->
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<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::getCovarianceAndMean </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, STATE_LEN, STATE_LEN > & </td>
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<td class="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="ac0ff19e3debdbe04272f578b3dbd8d9c"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::getCovarianceAndMean" ref="ac0ff19e3debdbe04272f578b3dbd8d9c" args="(CMatrixDouble77 &cov, CPose3DQuat &mean_point) const " -->
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<td class="memname">void mrpt::poses::CPose3DQuatPDFGaussian::getCovarianceAndMean </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#aed1f2021f6c0dc0dd77a96972acaf43a">CMatrixDouble77</a> & </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> & </td>
<td class="paramname"><em>mean_point</em> </td>
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<p>Returns an estimate of the pose covariance matrix (7x7 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_quat_p_d_f_gaussian.html#a2de8a38d2ddda3f723ac01c92295620a" title="Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).">getMean</a> </dd></dl>
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<a class="anchor" id="a8a5db2a590d8fcd23408a3d8a8a1f76c"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::getCovarianceDynAndMean" ref="a8a5db2a590d8fcd23408a3d8a8a1f76c" args="(CMatrixDouble &cov, TDATA &mean_point) const " -->
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<td class="memname">void mrpt::utils::CProbabilityDensityFunction::getCovarianceDynAndMean </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> & </td>
<td class="paramname"><em>cov</em>, </td>
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<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>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00069">69</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
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<p>Compute the entropy of the estimated covariance matrix. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a href="http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy">http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00145">145</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
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<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::getMean </td>
<td>(</td>
<td class="paramtype">TDATA & </td>
<td class="paramname"><em>mean_point</em></td><td>)</td>
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<p>Returns the mean, or mathematical expectation of the probability density distribution (PDF). </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getCovarianceAndMean </dd></dl>
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<a class="anchor" id="a2de8a38d2ddda3f723ac01c92295620a"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::getMean" ref="a2de8a38d2ddda3f723ac01c92295620a" args="(CPose3DQuat &mean_pose) const " -->
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<td class="memname">void mrpt::poses::CPose3DQuatPDFGaussian::getMean </td>
<td>(</td>
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<td class="paramname"><em>mean_pose</em></td><td>)</td>
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<p>Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a76a1c94c45614ec2ab8f4b209d126745" title="Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)">getCovariance</a> </dd></dl>
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<a class="anchor" id="ad6c0c9844ac63db9c793652e4619c549"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::getMeanVal" ref="ad6c0c9844ac63db9c793652e4619c549" args="() const " -->
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<td class="memname">TDATA mrpt::utils::CProbabilityDensityFunction::getMeanVal </td>
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<p>Returns the mean, or mathematical expectation of the probability density distribution (PDF). </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getCovariance </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00079">79</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
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<a class="anchor" id="a28a201422f17bc2ae791df2d5c579869"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::getPoseMean" ref="a28a201422f17bc2ae791df2d5c579869" args="() const " -->
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<td class="memname">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a>& mrpt::poses::CPose3DQuatPDFGaussian::getPoseMean </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_pose3_d_quat_p_d_f_gaussian_8h_source.html#l00093">93</a> of file <a class="el" href="_c_pose3_d_quat_p_d_f_gaussian_8h_source.html">CPose3DQuatPDFGaussian.h</a>.</p>
<p>References <a class="el" href="eigen__plugins_8h_source.html#l00373">mean()</a>.</p>
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<a class="anchor" id="a6760357089cf6026acb8fe66a54b544a"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::getPoseMean" ref="a6760357089cf6026acb8fe66a54b544a" args="()" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a>& mrpt::poses::CPose3DQuatPDFGaussian::getPoseMean </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_pose3_d_quat_p_d_f_gaussian_8h_source.html#l00094">94</a> of file <a class="el" href="_c_pose3_d_quat_p_d_f_gaussian_8h_source.html">CPose3DQuatPDFGaussian.h</a>.</p>
<p>References <a class="el" href="eigen__plugins_8h_source.html#l00373">mean()</a>.</p>
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<a class="anchor" id="adaf430914145be621d47f74890f5559d"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::GetRuntimeClass" ref="adaf430914145be621d47f74890f5559d" args="() const " -->
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<td class="memname">virtual const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::poses::CPose3DQuatPDFGaussian::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_quat_p_d_f.html#aaad1c961b33c0c0e56824c94ea8abaf6">mrpt::poses::CPose3DQuatPDF</a>.</p>
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<a class="anchor" id="a5cd9c8c0ae61c9722470f37fdb13dc82"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::inverse" ref="a5cd9c8c0ae61c9722470f37fdb13dc82" args="(CPose3DQuatPDF &o) const " -->
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<td class="memname">void mrpt::poses::CPose3DQuatPDFGaussian::inverse </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f.html">CPose3DQuatPDF</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_quat_p_d_f.html#a7f9019aef3323595e975ee7775e73def">mrpt::poses::CPose3DQuatPDF</a>.</p>
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<a class="anchor" id="aa35605ffc24f236aafdc4900d56c03fe"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::jacobiansPoseComposition" ref="aa35605ffc24f236aafdc4900d56c03fe" args="(const CPose3DQuat &x, const CPose3DQuat &u, CMatrixDouble77 &df_dx, CMatrixDouble77 &df_du, CPose3DQuat *out_x_oplus_u=NULL)" -->
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<td class="memname">static void mrpt::poses::CPose3DQuatPDFGaussian::jacobiansPoseComposition </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> & </td>
<td class="paramname"><em>x</em>, </td>
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<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> & </td>
<td class="paramname"><em>u</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#aed1f2021f6c0dc0dd77a96972acaf43a">CMatrixDouble77</a> & </td>
<td class="paramname"><em>df_dx</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#aed1f2021f6c0dc0dd77a96972acaf43a">CMatrixDouble77</a> & </td>
<td class="paramname"><em>df_du</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> * </td>
<td class="paramname"><em>out_x_oplus_u</em> = <code>NULL</code> </td>
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<td>)</td>
<td></td><td><code> [static]</code></td>
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<p>This static method computes the two Jacobians of a pose composition operation $f(x,u)= x u$. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out_x_oplus_u</td><td>If set to !=NULL, the result of "x+u" will be stored here (it will be computed internally anyway). To see the mathematical derivation of the formulas, refer to the technical report here:<ul>
<li><a href="http://www.mrpt.org/Probability_Density_Distributions_Over_Spatial_Representations">http://www.mrpt.org/Probability_Density_Distributions_Over_Spatial_Representations</a> </li>
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<a class="anchor" id="a3dc573028317451f63169041f240bd19"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::mahalanobisDistanceTo" ref="a3dc573028317451f63169041f240bd19" args="(const CPose3DQuatPDFGaussian &theOther)" -->
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<td class="memname">double mrpt::poses::CPose3DQuatPDFGaussian::mahalanobisDistanceTo </td>
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<p>Computes the Mahalanobis distance between the centers of two Gaussians. </p>
<p>The variables with a variance exactly equal to 0 are not taken into account in the process, but "infinity" is returned if the corresponding elements are not exactly equal. </p>
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<a class="anchor" id="a76378f723918dc8ac1c0b53633f78bc5"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::operator+=" ref="a76378f723918dc8ac1c0b53633f78bc5" args="(const CPose3DQuat &Ap)" -->
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<td class="memname">void mrpt::poses::CPose3DQuatPDFGaussian::operator+= </td>
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<td class="paramname"><em>Ap</em></td><td>)</td>
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<p>Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). </p>
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<a class="anchor" id="a9615e72b0ecb0b0ff8fa599bbbdc6b0c"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::operator+=" ref="a9615e72b0ecb0b0ff8fa599bbbdc6b0c" args="(const CPose3DQuatPDFGaussian &Ap)" -->
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<td class="memname">void mrpt::poses::CPose3DQuatPDFGaussian::operator+= </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html">CPose3DQuatPDFGaussian</a> & </td>
<td class="paramname"><em>Ap</em></td><td>)</td>
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<p>Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ). </p>
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<a class="anchor" id="ab6cab269d16e848e6f5f8032a56a673d"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::operator-" ref="ab6cab269d16e848e6f5f8032a56a673d" args="() const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html">CPose3DQuatPDFGaussian</a> mrpt::poses::CPose3DQuatPDFGaussian::operator- </td>
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<td class="paramname"></td><td>)</td>
<td> const<code> [inline]</code></td>
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<p>Unary - operator, returns the PDF of the inverse pose. </p>
<p>Definition at line <a class="el" href="_c_pose3_d_quat_p_d_f_gaussian_8h_source.html#l00156">156</a> of file <a class="el" href="_c_pose3_d_quat_p_d_f_gaussian_8h_source.html">CPose3DQuatPDFGaussian.h</a>.</p>
<p>References <a class="el" href="_c_quaternion_8h_source.html#l00042">mrpt::math::UNINITIALIZED_QUATERNION</a>.</p>
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<a class="anchor" id="a11ea18b69e90b0ed3b0f26a273be545b"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::operator-=" ref="a11ea18b69e90b0ed3b0f26a273be545b" args="(const CPose3DQuatPDFGaussian &Ap)" -->
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<td class="memname">void mrpt::poses::CPose3DQuatPDFGaussian::operator-= </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html">CPose3DQuatPDFGaussian</a> & </td>
<td class="paramname"><em>Ap</em></td><td>)</td>
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<p>Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated). </p>
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<a class="anchor" id="a73ba83035a64939cdc3aa1c0dfed23ec"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::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>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>in</em>, </td>
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<td class="paramname"><em>version</em> </td>
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<p>Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">in</td><td>The input binary stream where the object data must read from. </td></tr>
<tr><td class="paramname">version</td><td>The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. </td></tr>
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</dd>
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<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d" title="Reads a block of bytes from the stream into Buffer On any error, or if ZERO bytes are read...">CStream::ReadBuffer</a> </td></tr>
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<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="a847f311f6701885163930974e1ab5df3"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::saveToTextFile" ref="a847f311f6701885163930974e1ab5df3" args="(const std::string &file) const " -->
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<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
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<p>Save the PDF to a text file, containing the 3D pose in the first line (x y z qr qx qy qz), then the covariance matrix in the next 7 lines. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a960b9e93abcf834b4bb5ce5f880b2570">mrpt::utils::CProbabilityDensityFunction< CPose3DQuat, 7 ></a>.</p>
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<a class="anchor" id="a0b6b801e67bca3d8e0d355e7035f8013"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::writeToStream" ref="a0b6b801e67bca3d8e0d355e7035f8013" args="(mrpt::utils::CStream &out, int *getVersion) const =0" -->
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
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<td></td>
<td class="paramtype">int * </td>
<td class="paramname"><em>getVersion</em> </td>
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<td>)</td>
<td></td><td> const<code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. </p>
<p>This can not be used directly be users, instead use "stream << object;" for writing it to a stream. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out</td><td>The output binary stream where object must be dumped. </td></tr>
<tr><td class="paramname">getVersion</td><td>If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. </td></tr>
</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::CPose3DQuatPDFGaussian::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_quat_p_d_f_8h_source.html#l00066">66</a> of file <a class="el" href="_c_pose3_d_quat_p_d_f_8h_source.html">CPose3DQuatPDF.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a8265affbe3276490966b0c0dcbe8b04c"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::_init_CPose3DQuatPDFGaussian" ref="a8265affbe3276490966b0c0dcbe8b04c" 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_quat_p_d_f_gaussian.html#a8265affbe3276490966b0c0dcbe8b04c">mrpt::poses::CPose3DQuatPDFGaussian::_init_CPose3DQuatPDFGaussian</a><code> [static, protected]</code></td>
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<p>Definition at line <a class="el" href="_c_pose3_d_quat_p_d_f_gaussian_8h_source.html#l00061">61</a> of file <a class="el" href="_c_pose3_d_quat_p_d_f_gaussian_8h_source.html">CPose3DQuatPDFGaussian.h</a>.</p>
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<a class="anchor" id="acb51e4dd811d62c2696aee449d0a4715"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::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="aa64e2b5d955b568129b79ff61a5f2cde"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::classCPose3DQuatPDF" ref="aa64e2b5d955b568129b79ff61a5f2cde" 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_quat_p_d_f.html#aa64e2b5d955b568129b79ff61a5f2cde">mrpt::poses::CPose3DQuatPDF::classCPose3DQuatPDF</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_pose3_d_quat_p_d_f_8h_source.html#l00066">66</a> of file <a class="el" href="_c_pose3_d_quat_p_d_f_8h_source.html">CPose3DQuatPDF.h</a>.</p>
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<a class="anchor" id="ad8812e14e61d65dfe68a9772a64a95c6"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::classCPose3DQuatPDFGaussian" ref="ad8812e14e61d65dfe68a9772a64a95c6" 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_quat_p_d_f_gaussian.html#ad8812e14e61d65dfe68a9772a64a95c6">mrpt::poses::CPose3DQuatPDFGaussian::classCPose3DQuatPDFGaussian</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_pose3_d_quat_p_d_f_gaussian_8h_source.html#l00061">61</a> of file <a class="el" href="_c_pose3_d_quat_p_d_f_gaussian_8h_source.html">CPose3DQuatPDFGaussian.h</a>.</p>
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<a class="anchor" id="a28ec2a03d277a8469b8ecfc81892afdf"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::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="a9116ea8b2a4ab5f1a7aa62545266ed5d"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::classinfo" ref="a9116ea8b2a4ab5f1a7aa62545266ed5d" 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_quat_p_d_f_gaussian.html#a9116ea8b2a4ab5f1a7aa62545266ed5d">mrpt::poses::CPose3DQuatPDFGaussian::classinfo</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_pose3_d_quat_p_d_f_gaussian_8h_source.html#l00061">61</a> of file <a class="el" href="_c_pose3_d_quat_p_d_f_gaussian_8h_source.html">CPose3DQuatPDFGaussian.h</a>.</p>
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<a class="anchor" id="a98e9ac30bf4e14e62d00dd5096734469"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::cov" ref="a98e9ac30bf4e14e62d00dd5096734469" args="" -->
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<td class="memname"><a class="el" href="namespacemrpt_1_1math.html#aed1f2021f6c0dc0dd77a96972acaf43a">CMatrixDouble77</a> <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#a98e9ac30bf4e14e62d00dd5096734469">mrpt::poses::CPose3DQuatPDFGaussian::cov</a></td>
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<p>The 7x7 covariance matrix. </p>
<p>Definition at line <a class="el" href="_c_pose3_d_quat_p_d_f_gaussian_8h_source.html#l00091">91</a> of file <a class="el" href="_c_pose3_d_quat_p_d_f_gaussian_8h_source.html">CPose3DQuatPDFGaussian.h</a>.</p>
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<a class="anchor" id="a3c04628f52823fb9046a9ef1998c6020"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::mean" ref="a3c04628f52823fb9046a9ef1998c6020" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html">CPose3DQuat</a> <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#a3c04628f52823fb9046a9ef1998c6020">mrpt::poses::CPose3DQuatPDFGaussian::mean</a></td>
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<p>The mean value. </p>
<p>Definition at line <a class="el" href="_c_pose3_d_quat_p_d_f_gaussian_8h_source.html#l00088">88</a> of file <a class="el" href="_c_pose3_d_quat_p_d_f_gaussian_8h_source.html">CPose3DQuatPDFGaussian.h</a>.</p>
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<a class="anchor" id="a77a06347b68aa3c08de63c790d88eb12"></a><!-- doxytag: member="mrpt::poses::CPose3DQuatPDFGaussian::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>
