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<a href="#pub-types">Public Types</a> |
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<a href="#pub-static-attribs">Static Public Attributes</a> |
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<div class="title">mrpt::poses::CPosePDF 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::CPosePDF" --><!-- doxytag: inherits="mrpt::utils::CSerializable,CProbabilityDensityFunction< CPose2D, 3 >" --><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 2D pose (x,y,phi). </p>
<p>This class is just the base class for unifying many diferent ways this pdf can be implemented.</p>
<p>For convenience, a pose composition is also defined for any pdf derived class, changeCoordinatesReference, in the form of a method rather than an operator.</p>
<p>See also the tutorial on <a href="http://www.mrpt.org/Probability_Density_Distributions_Over_Spatial_Representations">probabilistic spatial representations in the MRPT</a>.</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">CPose3DPDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html" title="An efficient generator of random samples drawn from a given 2D (CPosePDF) or 3D (CPose3DPDF) pose pro...">CPoseRandomSampler</a> </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_pose_p_d_f_8h_source.html">mrpt/poses/CPosePDF.h</a>></code></p>
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Inheritance diagram for mrpt::poses::CPosePDF:</div>
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<p><a href="classmrpt_1_1poses_1_1_c_pose_p_d_f-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#a78099595e3a530684ad3a13fc4fd7b4dab32bd9924253df5766c457da8e44181e">is_3D_val</a> = 0
}</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom">{ <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#a7cbf144d5c341d584ec473fd1da8c6bcae730029e8ea27257d5355d025c6b111a">is_PDF_val</a> = 1
}</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef TDATA </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#ab4d442c6713a2aaac04cf79bee93c251">type_value</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The type of the state the PDF represents. <a href="#ab4d442c6713a2aaac04cf79bee93c251"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#ae4665eb85fdf3680ea9cf4a8a9120619">copyFrom</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html">CPosePDF</a> &o)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Copy operator, translating if necesary (for example, between particles and gaussian representations) <a href="#ae4665eb85fdf3680ea9cf4a8a9120619"></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_1poses_1_1_c_pose_p_d_f.html#acb56750e833e1f8a69d7d51eb0d0c4af">bayesianFusion</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html">CPosePDF</a> &p1, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html">CPosePDF</a> &p2, const double &minMahalanobisDistToDrop=0)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Bayesian fusion of two pose distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!) <a href="#acb56750e833e1f8a69d7d51eb0d0c4af"></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_1poses_1_1_c_pose_p_d_f.html#aeeb6b08bacd4308d67376b8ae8bcb9d4">inverse</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html">CPosePDF</a> &o) const =0</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="#aeeb6b08bacd4308d67376b8ae8bcb9d4"></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_pose_p_d_f.html#a4ee11d8684292cf3d291d576b4fbce83">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="#a4ee11d8684292cf3d291d576b4fbce83"></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_pose_p_d_f.html#a90795d49f8ebed4351523caea57e9030">getAs3DObject</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a 3D representation of this PDF. <a href="#a90795d49f8ebed4351523caea57e9030"></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">CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#aa1070e173c5f7e307b09c53f1fd256e2">duplicate</a> () const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class. <a href="#aa1070e173c5f7e307b09c53f1fd256e2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a534695890364f4b916bba07dad311bcf">duplicateGetSmartPtr</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). <a href="#a534695890364f4b916bba07dad311bcf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a9ef7857a0b36059c078e195a0a65ac00">clone</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cloning interface for smart pointers. <a href="#a9ef7857a0b36059c078e195a0a65ac00"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#afc168fcbcba4191a0e64fc2a3b7c4c78">getMean</a> (TDATA &mean_point) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the mean, or mathematical expectation of the probability density distribution (PDF). <a href="#afc168fcbcba4191a0e64fc2a3b7c4c78"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aef4a7a5d215e4c7e855286ad4a4d1bbe">getCovarianceAndMean</a> (<a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, STATE_LEN, STATE_LEN > &cov, TDATA &mean_point) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. <a href="#aef4a7a5d215e4c7e855286ad4a4d1bbe"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a8a5db2a590d8fcd23408a3d8a8a1f76c">getCovarianceDynAndMean</a> (<a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> &cov, TDATA &mean_point) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. <a href="#a8a5db2a590d8fcd23408a3d8a8a1f76c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">TDATA </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#ad6c0c9844ac63db9c793652e4619c549">getMeanVal</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the mean, or mathematical expectation of the probability density distribution (PDF). <a href="#ad6c0c9844ac63db9c793652e4619c549"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a76a1c94c45614ec2ab8f4b209d126745">getCovariance</a> (<a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> &cov) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) <a href="#a76a1c94c45614ec2ab8f4b209d126745"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a9ac7187b742c121c3338cb767b7994ba">getCovariance</a> (<a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, STATE_LEN, STATE_LEN > &cov) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) <a href="#a9ac7187b742c121c3338cb767b7994ba"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, <br class="typebreak"/>
STATE_LEN, STATE_LEN > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a689312caf79ee5268fa913e3fa5c82c0">getCovariance</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) <a href="#a689312caf79ee5268fa913e3fa5c82c0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a960b9e93abcf834b4bb5ce5f880b2570">saveToTextFile</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &file) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save PDF's particles to a text file. <a href="#a960b9e93abcf834b4bb5ce5f880b2570"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#ae8879d10e9d7a6c94211dd0ffffc4c9d">drawSingleSample</a> (TDATA &outPart) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draws a single sample from the distribution. <a href="#ae8879d10e9d7a6c94211dd0ffffc4c9d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aa437cf2c11cb0e937e851a0f498a4fb2">drawManySamples</a> (size_t N, <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> > &outSamples) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. <a href="#aa437cf2c11cb0e937e851a0f498a4fb2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aac79fa433163e2ffe0cb3c12d02e61ba">changeCoordinatesReference</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">mrpt::poses::CPose3D</a> &newReferenceBase)=0</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="#aac79fa433163e2ffe0cb3c12d02e61ba"></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 bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#a1c7943d0ab77c8ea3f46b86309069aad">is_3D</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#aab2857a4e58866b442e187041d08a556">is_PDF</a> ()</td></tr>
<tr><td colspan="2"><h2><a name="pub-static-attribs"></a>
Static Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">classCObject</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a77a06347b68aa3c08de63c790d88eb12">state_length</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). <a href="#a77a06347b68aa3c08de63c790d88eb12"></a><br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">RTTI stuff</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">classCSerializable</a></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a0b6b801e67bca3d8e0d355e7035f8013">writeToStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &out, int *getVersion) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. <a href="#a0b6b801e67bca3d8e0d355e7035f8013"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a73ba83035a64939cdc3aa1c0dfed23ec">readFromStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, int version)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. <a href="#a73ba83035a64939cdc3aa1c0dfed23ec"></a><br/></td></tr>
<tr><td 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_pose_p_d_f.html#aa0b97f5a0bb0d56326a23f5d8e515ae7">classCPosePDF</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_pose_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::utils::CStream</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_pose_p_d_f.html#a513d0c42ed405a89e5276af91ab0b169">_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_pose_p_d_f.html#a014d3940aa5b080b5b7b38ee157d5578">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="#a014d3940aa5b080b5b7b38ee157d5578"></a><br/></td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="ab4d442c6713a2aaac04cf79bee93c251"></a><!-- doxytag: member="mrpt::poses::CPosePDF::type_value" ref="ab4d442c6713a2aaac04cf79bee93c251" args="" -->
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<td class="memname">typedef TDATA <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#ab4d442c6713a2aaac04cf79bee93c251">mrpt::utils::CProbabilityDensityFunction::type_value</a><code> [inherited]</code></td>
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<p>The type of the state the PDF represents. </p>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00054">54</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
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<hr/><h2>Member Enumeration Documentation</h2>
<a class="anchor" id="a78099595e3a530684ad3a13fc4fd7b4d"></a><!-- doxytag: member="mrpt::poses::CPosePDF::@38" ref="a78099595e3a530684ad3a13fc4fd7b4d" args="" -->
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<td class="memname">anonymous enum</td>
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<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a78099595e3a530684ad3a13fc4fd7b4dab32bd9924253df5766c457da8e44181e"></a><!-- doxytag: member="is_3D_val" ref="a78099595e3a530684ad3a13fc4fd7b4dab32bd9924253df5766c457da8e44181e" args="" -->is_3D_val</em> </td><td>
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</dd>
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<p>Definition at line <a class="el" href="_c_pose_p_d_f_8h_source.html#l00079">79</a> of file <a class="el" href="_c_pose_p_d_f_8h_source.html">CPosePDF.h</a>.</p>
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<a class="anchor" id="a7cbf144d5c341d584ec473fd1da8c6bc"></a><!-- doxytag: member="mrpt::poses::CPosePDF::@39" ref="a7cbf144d5c341d584ec473fd1da8c6bc" args="" -->
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<td class="memname">anonymous enum</td>
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<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a7cbf144d5c341d584ec473fd1da8c6bcae730029e8ea27257d5355d025c6b111a"></a><!-- doxytag: member="is_PDF_val" ref="a7cbf144d5c341d584ec473fd1da8c6bcae730029e8ea27257d5355d025c6b111a" args="" -->is_PDF_val</em> </td><td>
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</dd>
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<p>Definition at line <a class="el" href="_c_pose_p_d_f_8h_source.html#l00081">81</a> of file <a class="el" href="_c_pose_p_d_f_8h_source.html">CPosePDF.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a513d0c42ed405a89e5276af91ab0b169"></a><!-- doxytag: member="mrpt::poses::CPosePDF::_GetBaseClass" ref="a513d0c42ed405a89e5276af91ab0b169" 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::CPosePDF::_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_1utils_1_1_c_serializable.html#a471a2d4e8bf14cdc749d43ffb8066a12">mrpt::utils::CSerializable</a>.</p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_particles.html#aa270296b80c3c1a91ac87dafb0312c88">mrpt::poses::CPosePDFParticles</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a8d69a11f669c736e2bcf8822f14aba70">mrpt::poses::CPosePDFSOG</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#a3906e9b91f4df76a24155dca42798cad">mrpt::poses::CPosePDFGaussianInf</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html#a2d9063972a246c4cf7d1c9365d2bffb5">mrpt::poses::CPosePDFGaussian</a>, and <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid.html#ad4ab99dbf773aac4ad40df74d80e3f5b">mrpt::poses::CPosePDFGrid</a>.</p>
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<a class="anchor" id="acb56750e833e1f8a69d7d51eb0d0c4af"></a><!-- doxytag: member="mrpt::poses::CPosePDF::bayesianFusion" ref="acb56750e833e1f8a69d7d51eb0d0c4af" args="(const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0)=0" -->
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<td class="memname">virtual void mrpt::poses::CPosePDF::bayesianFusion </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>p1</em>, </td>
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<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>p2</em>, </td>
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<td class="paramtype">const double & </td>
<td class="paramname"><em>minMahalanobisDistToDrop</em> = <code>0</code> </td>
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<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
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<p>Bayesian fusion of two pose distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!) </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">p1</td><td>The first distribution to fuse </td></tr>
<tr><td class="paramname">p2</td><td>The second distribution to fuse </td></tr>
<tr><td class="paramname">minMahalanobisDistToDrop</td><td>If set to different of 0, the result of very separate Gaussian modes (that will result in negligible components) in SOGs will be dropped to reduce the number of modes in the output. </td></tr>
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<p>Implemented in <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a04c5455331f1b54c66867b640d4efe9f">mrpt::poses::CPosePDFSOG</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_particles.html#afee576958feaa1f16da6c1331bc8e29a">mrpt::poses::CPosePDFParticles</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#a01f452abdbd4bbed8c77a60b35912968">mrpt::poses::CPosePDFGaussianInf</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html#a9361fcedbab97c4979fc32a1c638f55c">mrpt::poses::CPosePDFGaussian</a>, and <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid.html#a112077676ecda89e783f61d580c3d10a">mrpt::poses::CPosePDFGrid</a>.</p>
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<a class="anchor" id="aac79fa433163e2ffe0cb3c12d02e61ba"></a><!-- doxytag: member="mrpt::poses::CPosePDF::changeCoordinatesReference" ref="aac79fa433163e2ffe0cb3c12d02e61ba" args="(const mrpt::poses::CPose3D &newReferenceBase)=0" -->
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<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::changeCoordinatesReference </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">mrpt::poses::CPose3D</a> & </td>
<td class="paramname"><em>newReferenceBase</em></td><td>)</td>
<td><code> [pure virtual, inherited]</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>Implemented in <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a5fad24dec97cdea3252aefe55e18c9d0">mrpt::poses::CPosePDFSOG</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_particles.html#a62d92dc0f976e778c06427a8f7caa716">mrpt::poses::CPosePDFParticles</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#a9f7e7354bd6a19d0d4cf207860f87802">mrpt::poses::CPosePDFGaussianInf</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html#a475678cb8dd1fe147c986813ae374fe6">mrpt::poses::CPosePDFGaussian</a>, and <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid.html#a0f6224ea68902073f214972fbadaccdc">mrpt::poses::CPosePDFGrid</a>.</p>
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<a class="anchor" id="a9ef7857a0b36059c078e195a0a65ac00"></a><!-- doxytag: member="mrpt::poses::CPosePDF::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="ae4665eb85fdf3680ea9cf4a8a9120619"></a><!-- doxytag: member="mrpt::poses::CPosePDF::copyFrom" ref="ae4665eb85fdf3680ea9cf4a8a9120619" args="(const CPosePDF &o)=0" -->
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<td class="memname">virtual void mrpt::poses::CPosePDF::copyFrom </td>
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<td class="paramname"><em>o</em></td><td>)</td>
<td><code> [pure virtual]</code></td>
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<p>Copy operator, translating if necesary (for example, between particles and gaussian representations) </p>
<p>Implemented in <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a684fffab170275102385807ac4e7e78a">mrpt::poses::CPosePDFSOG</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#a97da760ecf3ca8377deaca8de450f608">mrpt::poses::CPosePDFGaussianInf</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html#ab984dca57fbdb1e07e65bbda0a00915f">mrpt::poses::CPosePDFGaussian</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_particles.html#a83231fe310f4affdde486314440fd421">mrpt::poses::CPosePDFParticles</a>, and <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid.html#af20b5e4d3b9d5b85cc50718bcda2d687">mrpt::poses::CPosePDFGrid</a>.</p>
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<a class="anchor" id="aa437cf2c11cb0e937e851a0f498a4fb2"></a><!-- doxytag: member="mrpt::poses::CPosePDF::drawManySamples" ref="aa437cf2c11cb0e937e851a0f498a4fb2" args="(size_t N, std::vector< vector_double > &outSamples) const " -->
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<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::drawManySamples </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>N</em>, </td>
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<td class="paramtype"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> > & </td>
<td class="paramname"><em>outSamples</em> </td>
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<p>Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. </p>
<p>This base method just call N times to drawSingleSample, but derived classes should implemented optimized method for each particular PDF. </p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#ad295ebe1240ebbd6d446d9d94863f388">mrpt::poses::CPosePDFSOG</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#a741d00424b8899a2a4eb094a4c266a09">mrpt::poses::CPosePDFGaussianInf</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html#af0665196eddc44a92d8d7a1b196bf77d">mrpt::poses::CPosePDFGaussian</a>, and <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid.html#a34a0f0f653d0520e4cca78e222fd8cfc">mrpt::poses::CPosePDFGrid</a>.</p>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00126">126</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
<p>References <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#ae8879d10e9d7a6c94211dd0ffffc4c9d">mrpt::utils::CProbabilityDensityFunction::drawSingleSample()</a>.</p>
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<a class="anchor" id="ae8879d10e9d7a6c94211dd0ffffc4c9d"></a><!-- doxytag: member="mrpt::poses::CPosePDF::drawSingleSample" ref="ae8879d10e9d7a6c94211dd0ffffc4c9d" args="(TDATA &outPart) const =0" -->
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<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::drawSingleSample </td>
<td>(</td>
<td class="paramtype">TDATA & </td>
<td class="paramname"><em>outPart</em></td><td>)</td>
<td> const<code> [pure virtual, inherited]</code></td>
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<p>Draws a single sample from the distribution. </p>
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<a class="anchor" id="aa1070e173c5f7e307b09c53f1fd256e2"></a><!-- doxytag: member="mrpt::poses::CPosePDF::duplicate" ref="aa1070e173c5f7e307b09c53f1fd256e2" args="() const =0" -->
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<td class="memname">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a>* mrpt::utils::CObject::duplicate </td>
<td>(</td>
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<td> const<code> [pure virtual, inherited]</code></td>
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<p>Returns a copy of the object, indepently of its class. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses3_d_inf.html#aa418a18b42f0cd0345f7f74254d3816a">mrpt::graphs::CNetworkOfPoses3DInf</a>, <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses2_d_inf.html#a3a4aefa2c8700d412e577aa67b38ef92">mrpt::graphs::CNetworkOfPoses2DInf</a>, <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses3_d_cov.html#a1e8073ae7f1eea303ff200be62a39dc8">mrpt::graphs::CNetworkOfPoses3DCov</a>, <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses2_d_cov.html#abdae8c21f63f137061ccb70cad7a00a4">mrpt::graphs::CNetworkOfPoses2DCov</a>, <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses3_d.html#a322d25fb1e05935950f9a7667c8186db">mrpt::graphs::CNetworkOfPoses3D</a>, <a class="el" href="classmrpt_1_1graphs_1_1_c_network_of_poses2_d.html#ac67931093925b89d8ffbf5940d53cba0">mrpt::graphs::CNetworkOfPoses2D</a>, <a class="el" href="classmrpt_1_1utils_1_1_t_stereo_camera.html#ab6a8fbe4d003f10c364378c5105be2ef">mrpt::utils::TStereoCamera</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_log_file_record___n_d.html#a3b657b853f3d81f1b85fe63ad90811a4">mrpt::reactivenav::CLogFileRecord_ND</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_simple_database.html#ac8261cd70c8ccbb5d6f0bcbe02f7b129">mrpt::utils::CSimpleDatabase</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_image.html#aad2da5b6028c862896eeff130254b268">mrpt::utils::CImage</a>, <a class="el" href="classmrpt_1_1detectors_1_1_c_detectable3_d.html#af14e72e5cb029e2b48ed085a269ec3d5">mrpt::detectors::CDetectable3D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation3_d_range_scan.html#a0e414505f603f461879a817e628fd847">mrpt::slam::CObservation3DRangeScan</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_t_hypothesis_i_d_set.html#a91551aa5c70ca76a79009d152dd85132">mrpt::hmtslam::THypothesisIDSet</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html#a5e90b6efdf7c8646c43619f805d1447d">mrpt::slam::COccupancyGridMap2D</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html#aaf8fcfb1dc4c86b88c86aec138a11072">mrpt::hmtslam::CHMTSLAM</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_c_local_metric_hypothesis.html#ac78d9a44f581338715379d0cd17e2fd1">mrpt::hmtslam::CLocalMetricHypothesis</a>, <a class="el" href="classmrpt_1_1gui_1_1_c_display_window3_d.html#af1330a1e443ddb156f55966a204404d3">mrpt::gui::CDisplayWindow3D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_height_grid_map2_d.html#a197c2c0f0bd6b6b6cd82eb4b78b99e0d">mrpt::slam::CHeightGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html#addc93579b7a501a8486ed8178e1b1163">mrpt::slam::CObservationIMU</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f.html#af9bb29381a79d37c8e48319e99b79506">mrpt::slam::CMultiMetricMapPDF</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html#a2092c4cab9d1062f66449832e970d427">mrpt::slam::CLandmarksMap</a>, <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a43eac0701c624df4976a459ab0ed5f9a">mrpt::vision::CFeature</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_multi_metric_map.html#a40bb0f23493a06d109b9857882e73cc9">mrpt::slam::CMultiMetricMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_rawlog.html#a73cf5cd5a1118c882a75f7b489b4c260">mrpt::slam::CRawlog</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#a42ae7a4409660ed30a889f4d293c7cbb">mrpt::slam::CSensoryFrame</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html#ad10511d0f2da9bd690a92bf8b80bffaa">mrpt::poses::CPose3D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html#a8752d16a6e4ee043b88101c9850f4099">mrpt::slam::CObservation2DRangeScan</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#a7f571259a8c4934b39b51c1810c6953d">mrpt::poses::CPointPDFParticles</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_interpolator.html#a6e0706f9975f7f26b3d8096c4b93604d">mrpt::poses::CPose3DInterpolator</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_open_g_l_viewport.html#af57c300ecbd7c559a9d93fd0614d8f37">mrpt::opengl::COpenGLViewport</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_beacon_map.html#ac96c1b225716e20ed93e20962bf029be">mrpt::slam::CBeaconMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_reflectivity_grid_map2_d.html#a738ccf6288f6b32ebe7d1c580967223a">mrpt::slam::CReflectivityGridMap2D</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_c_l_s_l_a_m_particle_data.html#aa32623b7b721c6c827dccf8418e29dc1">mrpt::hmtslam::CLSLAMParticleData</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_point_cloud.html#aee94205aa8bf0fa4465036031a062fc0">mrpt::opengl::CPointCloud</a>, <a class="el" href="classmrpt_1_1detectors_1_1_c_detectable2_d.html#a1ae410e57a6919e6007f6b33b12d9bf9">mrpt::detectors::CDetectable2D</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html#a9b3a8da932f784bb49c32e49dcda3b96">mrpt::opengl::COpenGLScene</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_point_cloud_coloured.html#a5f42667250317195e9a1f5b280797d1b">mrpt::opengl::CPointCloudColoured</a>, <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#aa929ee8c57cd51dc5642a605aa70bfbd">mrpt::math::CMatrixD</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_m_h_properties_values_list.html#aa96c50b8298d9986b7e38df79cefd526">mrpt::utils::CMHPropertiesValuesList</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_planar_laser_scan.html#a174be00acf923c26a2a5933ffe750f6b">mrpt::opengl::CPlanarLaserScan</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_wireless_power_grid_map2_d.html#a446665d934bb68fc8582f33bff9d92b8">mrpt::slam::CWirelessPowerGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#abb628a6fcb83bb9803bb4f72dffe1f1c">mrpt::slam::CObservationStereoImages</a>, <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a4fb51439298d885903af7000d353f46b">mrpt::math::CMatrix</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html#a7304e3b9362d80754232877aacdaa808">mrpt::poses::CPose3DPDFParticles</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html#a9c680e7f88f85b165e8f806fd02d4a56">mrpt::poses::CPose3DQuat</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_node.html#acf667fcb7d982bf6dce0a4616136c262">mrpt::hmtslam::CHMHMapNode</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a8c5aa5059603c4457fef60eb8fdb1ecf">mrpt::slam::CBeacon</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_text3_d.html#aaa3a55f9b83404ad3842cd764060683d">mrpt::opengl::CText3D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images_features.html#aba4a19c73ed95546f0fcb16eb057f18e">mrpt::slam::CObservationStereoImagesFeatures</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_ellipsoid.html#a3650d34de6b1f5019fe777978c02cafb">mrpt::opengl::CEllipsoid</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_landmark.html#a75becf8cf9a5879930d55afddada8e8a">mrpt::slam::CLandmark</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#ad33b8d9da7a6f510520c342cb1ba81bd">mrpt::poses::CPose3DQuatPDFGaussian</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_c_robot_poses_graph.html#aadda9db6b2b0928164ad50e8cd11eaee">mrpt::hmtslam::CRobotPosesGraph</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_mesh.html#a5d7468f17d7679ab2f620e1e200e3806">mrpt::opengl::CMesh</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_particles.html#a7cf711985eb19c122259fb73e57ac79b">mrpt::poses::CPosePDFParticles</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#ab76de1691de9b7eeb0aa79308743b3b1">mrpt::poses::CPosePDFSOG</a>, <a class="el" href="classmrpt_1_1gui_1_1_c_display_window_plots.html#aa6f1cf193c3bf6a2313b53951346e782">mrpt::gui::CDisplayWindowPlots</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html#a2291a08ea655179c09a95a7c2bd1795d">mrpt::slam::CGasConcentrationGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_image.html#a3faac43a2aa3cc2cb83009dea36fb091">mrpt::slam::CObservationImage</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_set_of_lines.html#a310eb858ada8a9becd13c951c2d24bf8">mrpt::opengl::CSetOfLines</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_text.html#a3687a19a0da6211642fea5da8c3a8ec4">mrpt::opengl::CText</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#a9b27d9967b815ee3940c15de195a36e2">mrpt::poses::CPose3DPDFGaussian</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian_inf.html#a9bd19644e5dbc753f2fbb5f6aaa973aa">mrpt::poses::CPose3DPDFGaussianInf</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_h_map_arc.html#a3d86e457d12686c0cfcc43ad82428799">mrpt::hmtslam::CHMHMapArc</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_polyhedron.html#a511f6a7e6cc8e6744bc0373174c7427d">mrpt::opengl::CPolyhedron</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#a7846f251ee6c4a06823a9e317efe9425">mrpt::poses::CPosePDFGaussianInf</a>, <a class="el" href="classmrpt_1_1hmtslam_1_1_c_hierarchical_m_h_map.html#a27438440f4020af9344d231faccc753f">mrpt::hmtslam::CHierarchicalMHMap</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_angular_observation_mesh.html#a18b235563a3fc738b91a6e6e53a9015f">mrpt::opengl::CAngularObservationMesh</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_coloured_points_map.html#aa9464b5162eb23c17d9e8cfb261d05a7">mrpt::slam::CColouredPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html#a31d7ca9b000e8f07a79929e591343d86">mrpt::slam::CIncrementalMapPartitioner</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_r_b_p_f_particle_data.html#a5bcc1c02aed4050434ed55b74f2ff650">mrpt::slam::CRBPFParticleData</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d.html#a0bf70b9de6ac93f51598aac53e2003d3">mrpt::poses::CPoint2D</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_s_o_g.html#a49ae926af8ad565263ce3cfbfac678a0">mrpt::poses::CPointPDFSOG</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html#a7bfbc310c6895373d2a861c32a7e9a42">mrpt::poses::CPose2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_simple_points_map.html#ade98e5012f143f773dca038ebedaf414">mrpt::slam::CSimplePointsMap</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_disk.html#ac24e8aff817cff149884379a9f2bc8f3">mrpt::opengl::CDisk</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a7b52c011ee07d664d4fb68e8a8aadbcd">mrpt::opengl::CSetOfObjects</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#a446f3aa07c01e02a3e6b217cf5add70a">mrpt::poses::CPose3DPDFSOG</a>, <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html#ae3614449388ba0d04ada82669bec0737">mrpt::utils::TCamera</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement2_d.html#a7e8d6d2fb451afbde43e9ac7221ddc9b">mrpt::slam::CActionRobotMovement2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_battery_state.html#a2cb06e193f5eb42aa2a831020d95afff">mrpt::slam::CObservationBatteryState</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_grid_plane_x_y.html#abbd3dfcf7b030079b2abfba5ea6444be">mrpt::opengl::CGridPlaneXY</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_grid_plane_x_z.html#aefe4896e131caf88278a5a716217332e">mrpt::opengl::CGridPlaneXZ</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html#a29bbab541ccead175735cb918d824df8">mrpt::poses::CPoint3D</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html#a965e60ece7618520c2b8ca8fffd193a8">mrpt::poses::CPosePDFGaussian</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html#a6d025252ed5f6b5f4e0a4e3ddc416b7f">mrpt::slam::CSimpleMap</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_arrow.html#a41cc3bf824b9cb780a3ab7cf192a3364">mrpt::opengl::CArrow</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_axis.html#ac25fb689167766f779d410e27ea1d49e">mrpt::opengl::CAxis</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_sphere.html#aa575a8579770705b353c529c2cb087fb">mrpt::opengl::CSphere</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_weighted_points_map.html#a0e0d2c095e57a26850f403067f8a57b9">mrpt::slam::CWeightedPointsMap</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_camera.html#a633a46c1730b7ab2a384894aaeb5a2b1">mrpt::opengl::CCamera</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid.html#ab2e0aecfd0e0b44f72034ccc3fbb9b31">mrpt::poses::CPosePDFGrid</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_string_list.html#ac9a15d228b7367a12ca0b7eb4d83c6b5">mrpt::utils::CStringList</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_odometry.html#a05fd7949574d81da2ba09078098ecf30">mrpt::slam::CObservationOdometry</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_box.html#a8c9b11cb2c190d0e483139fa867b18c6">mrpt::opengl::CBox</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_set_of_textured_triangles.html#ad2a5d067f01067243281582300ec203b">mrpt::opengl::CSetOfTexturedTriangles</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_memory_chunk.html#a78bcb5c78c30e2ce9264f175992824e7">mrpt::utils::CMemoryChunk</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html#a407a76e436c9a8e8078894c35fdb5158">mrpt::slam::CActionCollection</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#a55cbbc63858e0090c78510beec989412">mrpt::slam::CObservationGPS</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_range.html#a99ebd8676c155b314f49dab5e3a76330">mrpt::slam::CObservationRange</a>, <a class="el" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#a04c05b92a6607524ea23b9e5b5ed8b09">mrpt::reactivenav::CLogFileRecord</a>, <a class="el" href="classmrpt_1_1math_1_1_c_spline_interpolator1_d.html#a53aa9a1e2f53f277b9e1488e0c96b6c5">mrpt::math::CSplineInterpolator1D</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_properties_values_list.html#aa79cf430bc89538e7550ec20a10491e4">mrpt::utils::CPropertiesValuesList</a>, <a class="el" href="classmrpt_1_1gui_1_1_c_display_window.html#a5f25675c29fb9c67cabf4c6ca2162cf3">mrpt::gui::CDisplayWindow</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html#a2507aece9dce13c5f3bb9f5a190e096c">mrpt::slam::CObservationBearingRange</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors.html#abcc880fd8478f9062e10e765a6207ba9">mrpt::slam::CObservationGasSensors</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_wireless_power.html#a9b77480065c165be0e906ad2ff971cd9">mrpt::slam::CObservationWirelessPower</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c3_d_s_scene.html#a3cb1f8940317a760f31397e1c3ad0027">mrpt::opengl::C3DSScene</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_visual_landmarks.html#ab1be9ba6c66ffd5ac0c3d3cef5a133f9">mrpt::slam::CObservationVisualLandmarks</a>, <a class="el" href="classmrpt_1_1math_1_1_c_matrix_b.html#a59912ae9f05fa0604d49df187947af11">mrpt::math::CMatrixB</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#ac4c2c51962f520b5879919cba0a9e206">mrpt::poses::CPointPDFGaussian</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#aabce19dce3c15e10b340f26f4ebe535f">mrpt::poses::CPoses2DSequence</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_poses3_d_sequence.html#a095af4ace78646a9fab689723fa00508">mrpt::poses::CPoses3DSequence</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_simple_database_table.html#a696a686e91fd5f7289706fd0bd6ddfc5">mrpt::utils::CSimpleDatabaseTable</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#a16bc246dde9470e74a1033da69c9866e">mrpt::slam::CActionRobotMovement3D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_beacon_ranges.html#a23e787119a1f9bd94eb9b5690e0daccb">mrpt::slam::CObservationBeaconRanges</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_comment.html#a434bcdda2cc6f6c265ae62788adfd98a">mrpt::slam::CObservationComment</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_cylinder.html#a8e5b85adca444e64144ee6f3faf83114">mrpt::opengl::CCylinder</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#abbbbb3d087ed3ee7c2da39eac11ab95a">mrpt::opengl::CSetOfTriangles</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_reflectivity.html#a17ef8a534a2149e36dc7b95fba49eae0">mrpt::slam::CObservationReflectivity</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_generalized_cylinder.html#a77bf22c0582d88b4faeb742d29b5c048">mrpt::opengl::CGeneralizedCylinder</a>, <a class="el" href="classmrpt_1_1math_1_1_c_polygon.html#a5e7e04d290bd0a8e5ea200c5c6161789">mrpt::math::CPolygon</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d_p_d_f_gaussian.html#ae3fd0af40f8db138878c9bec82d334cb">mrpt::poses::CPoint2DPDFGaussian</a>, <a class="el" href="classmrpt_1_1poses_1_1_t_simple3_d_point.html#ad234b06eecf2225506f9095dd8e8a6d7">mrpt::poses::TSimple3DPoint</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_open_g_l_standard_object.html#a8988a84c557b3ca109ad0549abc5a146">mrpt::opengl::COpenGLStandardObject</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_simple_line.html#ad04236958bd785b246c4b128c0921fed">mrpt::opengl::CSimpleLine</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_textured_plane.html#a85b062e19d9544cdc2aca554ef99c326">mrpt::opengl::CTexturedPlane</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_type_selector.html#ab43700d20fcedc8db931a39a061ef5a0">mrpt::utils::CTypeSelector</a>, and <a class="el" href="classmrpt_1_1reactivenav_1_1_c_log_file_record___v_f_f.html#af9583f931124d502e9c20d2786262b0e">mrpt::reactivenav::CLogFileRecord_VFF</a>.</p>
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<a class="anchor" id="a534695890364f4b916bba07dad311bcf"></a><!-- doxytag: member="mrpt::poses::CPosePDF::duplicateGetSmartPtr" ref="a534695890364f4b916bba07dad311bcf" args="() const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> mrpt::utils::CObject::duplicateGetSmartPtr </td>
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<p>Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). </p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00151">151</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="a4ee11d8684292cf3d291d576b4fbce83"></a><!-- doxytag: member="mrpt::poses::CPosePDF::getAs3DObject" ref="a4ee11d8684292cf3d291d576b4fbce83" args="(OPENGL_SETOFOBJECTSPTR &out_obj) const " -->
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<td class="memname">void mrpt::poses::CPosePDF::getAs3DObject </td>
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<td class="paramtype">OPENGL_SETOFOBJECTSPTR & </td>
<td class="paramname"><em>out_obj</em></td><td>)</td>
<td> const<code> [inline]</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_pose_p_d_f_8h_source.html#l00088">88</a> of file <a class="el" href="_c_pose_p_d_f_8h_source.html">CPosePDF.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="a90795d49f8ebed4351523caea57e9030"></a><!-- doxytag: member="mrpt::poses::CPosePDF::getAs3DObject" ref="a90795d49f8ebed4351523caea57e9030" args="() const " -->
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template<class OPENGL_SETOFOBJECTSPTR > </div>
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<td class="memname">OPENGL_SETOFOBJECTSPTR mrpt::poses::CPosePDF::getAs3DObject </td>
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<td> const<code> [inline]</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_pose_p_d_f_8h_source.html#l00097">97</a> of file <a class="el" href="_c_pose_p_d_f_8h_source.html">CPosePDF.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::CPosePDF::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>
<p>References <a class="el" href="_c_probability_density_function_8h_source.html#l00069">mrpt::utils::CProbabilityDensityFunction::getCovarianceDynAndMean()</a>.</p>
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<a class="anchor" id="a9ac7187b742c121c3338cb767b7994ba"></a><!-- doxytag: member="mrpt::poses::CPosePDF::getCovariance" ref="a9ac7187b742c121c3338cb767b7994ba" args="(CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const " -->
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<td class="memname">void mrpt::utils::CProbabilityDensityFunction::getCovariance </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, STATE_LEN, STATE_LEN > & </td>
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<td> const<code> [inline, inherited]</code></td>
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<p>Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getMean, getCovarianceAndMean </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00098">98</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
<p>References <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aef4a7a5d215e4c7e855286ad4a4d1bbe">mrpt::utils::CProbabilityDensityFunction::getCovarianceAndMean()</a>.</p>
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<a class="anchor" id="a689312caf79ee5268fa913e3fa5c82c0"></a><!-- doxytag: member="mrpt::poses::CPosePDF::getCovariance" ref="a689312caf79ee5268fa913e3fa5c82c0" args="() const " -->
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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>
<p>References <a class="el" href="ops__matrices_8h_source.html#l00233">mrpt::math::cov()</a>, and <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aef4a7a5d215e4c7e855286ad4a4d1bbe">mrpt::utils::CProbabilityDensityFunction::getCovarianceAndMean()</a>.</p>
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<a class="anchor" id="aef4a7a5d215e4c7e855286ad4a4d1bbe"></a><!-- doxytag: member="mrpt::poses::CPosePDF::getCovarianceAndMean" ref="aef4a7a5d215e4c7e855286ad4a4d1bbe" args="(CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, TDATA &mean_point) const =0" -->
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<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::getCovarianceAndMean </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, STATE_LEN, STATE_LEN > & </td>
<td class="paramname"><em>cov</em>, </td>
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<td class="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="a8a5db2a590d8fcd23408a3d8a8a1f76c"></a><!-- doxytag: member="mrpt::poses::CPosePDF::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>
<p>References <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aef4a7a5d215e4c7e855286ad4a4d1bbe">mrpt::utils::CProbabilityDensityFunction::getCovarianceAndMean()</a>.</p>
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<a class="anchor" id="a311648912f182acf9fc0896208492216"></a><!-- doxytag: member="mrpt::poses::CPosePDF::getCovarianceEntropy" ref="a311648912f182acf9fc0896208492216" args="() const " -->
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<td class="memname">double mrpt::utils::CProbabilityDensityFunction::getCovarianceEntropy </td>
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<p>Compute the entropy of the estimated covariance matrix. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a href="http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy">http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00145">145</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
<p>References <a class="el" href="_c_probability_density_function_8h_source.html#l00107">mrpt::utils::CProbabilityDensityFunction::getCovariance()</a>, and <a class="el" href="eigen__plugins_8h_source.html#l00495">det()</a>.</p>
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<a class="anchor" id="afc168fcbcba4191a0e64fc2a3b7c4c78"></a><!-- doxytag: member="mrpt::poses::CPosePDF::getMean" ref="afc168fcbcba4191a0e64fc2a3b7c4c78" args="(TDATA &mean_point) const =0" -->
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<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::getMean </td>
<td>(</td>
<td class="paramtype">TDATA & </td>
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<td> const<code> [pure virtual, inherited]</code></td>
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<p>Returns the mean, or mathematical expectation of the probability density distribution (PDF). </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getCovarianceAndMean </dd></dl>
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<a class="anchor" id="ad6c0c9844ac63db9c793652e4619c549"></a><!-- doxytag: member="mrpt::poses::CPosePDF::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>
<p>References <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#afc168fcbcba4191a0e64fc2a3b7c4c78">mrpt::utils::CProbabilityDensityFunction::getMean()</a>.</p>
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<a class="anchor" id="a014d3940aa5b080b5b7b38ee157d5578"></a><!-- doxytag: member="mrpt::poses::CPosePDF::GetRuntimeClass" ref="a014d3940aa5b080b5b7b38ee157d5578" 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::CPosePDF::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_1utils_1_1_c_serializable.html#a6861b16159daafd1651d6e0d27f39c58">mrpt::utils::CSerializable</a>.</p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_particles.html#aeff2f086f82beb2bd6256278fc4db89a">mrpt::poses::CPosePDFParticles</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a58b3dabeefe4cd56cd20e90fbe345b31">mrpt::poses::CPosePDFSOG</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#acac8a6cc94a1a0a530a5428e5e3efd77">mrpt::poses::CPosePDFGaussianInf</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html#a37e48216a20d3984bcf114b315f6c4f9">mrpt::poses::CPosePDFGaussian</a>, and <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid.html#a244b7c546359f7aaa5bed28dd16a2bce">mrpt::poses::CPosePDFGrid</a>.</p>
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<a class="anchor" id="aeeb6b08bacd4308d67376b8ae8bcb9d4"></a><!-- doxytag: member="mrpt::poses::CPosePDF::inverse" ref="aeeb6b08bacd4308d67376b8ae8bcb9d4" args="(CPosePDF &o) const =0" -->
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<td class="memname">virtual void mrpt::poses::CPosePDF::inverse </td>
<td>(</td>
<td class="paramtype"><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> const<code> [pure virtual]</code></td>
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<p>Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a0d3616b4482ca13a756b4bf899a23e6a">mrpt::poses::CPosePDFSOG</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#a8bc7df2acd25649273edd429cc9c34f4">mrpt::poses::CPosePDFGaussianInf</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html#a2bd77e0b7bf33d3a3fdbc93a485368cd">mrpt::poses::CPosePDFGaussian</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_particles.html#a5199792da3365d4861132558f78ac8fa">mrpt::poses::CPosePDFParticles</a>, and <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid.html#a5dcfbdd40948b6bae1ef6b3159aabbfb">mrpt::poses::CPosePDFGrid</a>.</p>
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<a class="anchor" id="a1c7943d0ab77c8ea3f46b86309069aad"></a><!-- doxytag: member="mrpt::poses::CPosePDF::is_3D" ref="a1c7943d0ab77c8ea3f46b86309069aad" args="()" -->
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<td class="memname">static bool mrpt::poses::CPosePDF::is_3D </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, static]</code></td>
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<p>Definition at line <a class="el" href="_c_pose_p_d_f_8h_source.html#l00080">80</a> of file <a class="el" href="_c_pose_p_d_f_8h_source.html">CPosePDF.h</a>.</p>
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<a class="anchor" id="aab2857a4e58866b442e187041d08a556"></a><!-- doxytag: member="mrpt::poses::CPosePDF::is_PDF" ref="aab2857a4e58866b442e187041d08a556" args="()" -->
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<td class="memname">static bool mrpt::poses::CPosePDF::is_PDF </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, static]</code></td>
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<p>Definition at line <a class="el" href="_c_pose_p_d_f_8h_source.html#l00082">82</a> of file <a class="el" href="_c_pose_p_d_f_8h_source.html">CPosePDF.h</a>.</p>
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<a class="anchor" id="a73ba83035a64939cdc3aa1c0dfed23ec"></a><!-- doxytag: member="mrpt::poses::CPosePDF::readFromStream" ref="a73ba83035a64939cdc3aa1c0dfed23ec" args="(mrpt::utils::CStream &in, int version)=0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::readFromStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>in</em>, </td>
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<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>version</em> </td>
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<td>)</td>
<td></td><td><code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">in</td><td>The input binary stream where the object data must read from. </td></tr>
<tr><td class="paramname">version</td><td>The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. </td></tr>
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</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d" title="Reads a block of bytes from the stream into Buffer On any error, or if ZERO bytes are read...">CStream::ReadBuffer</a> </td></tr>
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</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a0194e57ec48c1dfc6aa00c23d3409143">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a12db95e8c32d48d2d2483936dec516a7">mrpt::math::CMatrix</a>.</p>
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<a class="anchor" id="a960b9e93abcf834b4bb5ce5f880b2570"></a><!-- doxytag: member="mrpt::poses::CPosePDF::saveToTextFile" ref="a960b9e93abcf834b4bb5ce5f880b2570" args="(const std::string &file) const =0" -->
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<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::saveToTextFile </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>file</em></td><td>)</td>
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<p>Save PDF's particles to a text file. </p>
<p>See derived classes for more information about the format of generated files. </p>
<p>Implemented in <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#aab4d7fd25994729aac6e3baba5cd383c">mrpt::poses::CPosePDFSOG</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_particles.html#a4f95ca099eec222c16f2b850af839005">mrpt::poses::CPosePDFParticles</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#a06cd0ebadc05111395af699b55d6babe">mrpt::poses::CPosePDFGaussianInf</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html#aab00bcd79443b62b7e4b5dfd885258a2">mrpt::poses::CPosePDFGaussian</a>, and <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid.html#ad1d062f97efcac0b604a85edf84cbf27">mrpt::poses::CPosePDFGrid</a>.</p>
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<a class="anchor" id="a0b6b801e67bca3d8e0d355e7035f8013"></a><!-- doxytag: member="mrpt::poses::CPosePDF::writeToStream" ref="a0b6b801e67bca3d8e0d355e7035f8013" args="(mrpt::utils::CStream &out, int *getVersion) const =0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::writeToStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int * </td>
<td class="paramname"><em>getVersion</em> </td>
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<td></td>
<td>)</td>
<td></td><td> const<code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. </p>
<p>This can not be used directly be users, instead use "stream << object;" for writing it to a stream. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out</td><td>The output binary stream where object must be dumped. </td></tr>
<tr><td class="paramname">getVersion</td><td>If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. </td></tr>
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</dd>
</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>
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</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a767e787b52208ab4dd46ba7f5e2fd224">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a059d7eaf80dab9c7435154146d2b7dbf">mrpt::math::CMatrix</a>.</p>
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<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="a6fec28a53e20dfc1c4d046c26f9f7b48"></a><!-- doxytag: member="mrpt::poses::CPosePDF::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]</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_pose_p_d_f_8h_source.html#l00060">60</a> of file <a class="el" href="_c_pose_p_d_f_8h_source.html">CPosePDF.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="acb51e4dd811d62c2696aee449d0a4715"></a><!-- doxytag: member="mrpt::poses::CPosePDF::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="aa0b97f5a0bb0d56326a23f5d8e515ae7"></a><!-- doxytag: member="mrpt::poses::CPosePDF::classCPosePDF" ref="aa0b97f5a0bb0d56326a23f5d8e515ae7" 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_pose_p_d_f.html#aa0b97f5a0bb0d56326a23f5d8e515ae7">mrpt::poses::CPosePDF::classCPosePDF</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_pose_p_d_f_8h_source.html#l00060">60</a> of file <a class="el" href="_c_pose_p_d_f_8h_source.html">CPosePDF.h</a>.</p>
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<a class="anchor" id="a28ec2a03d277a8469b8ecfc81892afdf"></a><!-- doxytag: member="mrpt::poses::CPosePDF::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="a77a06347b68aa3c08de63c790d88eb12"></a><!-- doxytag: member="mrpt::poses::CPosePDF::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>
