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<a href="#pub-types">Public Types</a> |
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<div class="title">mrpt::poses::CPosePDFGaussianInf 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::CPosePDFGaussianInf" --><!-- doxytag: inherits="mrpt::poses::CPosePDF" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A Probability Density function (PDF) of a 2D pose <img class="formulaInl" alt="$ p(\mathbf{x}) = [x ~ y ~ \phi ]^t $" src="form_71.png"/> as a Gaussian with a mean and the inverse of the covariance. </p>
<p>This class implements a PDF as a mono-modal Gaussian distribution in its <b>information form</b>, that is, keeping the inverse of the covariance matrix instead of the covariance matrix itself.</p>
<p>This class is the dual of <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 2D pose ...">CPosePDFGaussian</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_pose_p_d_f.html" title="Declares a class that represents a probability density function (pdf) of a 2D pose (x...">CPosePDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_particles.html" title="Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x...">CPosePDFParticles</a> </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_pose_p_d_f_gaussian_inf_8h_source.html">mrpt/poses/CPosePDFGaussianInf.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::poses::CPosePDFGaussianInf:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf__inherit__graph.png" border="0" usemap="#mrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf_inherit__map" id="mrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html" title="Declares a class that represents a probability density function (pdf) of a 2D pose (x..." alt="" coords="175,173,341,200"/><area shape="rect" id="node4" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT..." alt="" coords="4,96,168,123"/><area shape="rect" id="node6" href="classmrpt_1_1utils_1_1_c_object.html" title="The virtual base class of all MRPT classes with a unified RTTI system." alt="" coords="19,5,153,32"/><area shape="rect" id="node8" href="classmrpt_1_1utils_1_1_c_probability_density_function.html" title="mrpt::utils::CProbabilityDensityFunction\< CPose2D, 3 \>" alt="" coords="194,96,544,123"/><area shape="rect" id="node10" href="classmrpt_1_1utils_1_1_c_probability_density_function.html" title="A generic template for probability density distributions (PDFs)." alt="" coords="242,5,496,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf-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">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#a61abdcd4106d875473a14c091db12b1a">getPoseMean</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#a192ed469cad0982db28bda8e9fe4a0e6">getPoseMean</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#a1f7429960bab166292bbfce678ed5f47">CPosePDFGaussianInf</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor (mean=all zeros, inverse covariance=all zeros -> so be careful!) <a href="#a1f7429960bab166292bbfce678ed5f47"></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_pose_p_d_f_gaussian_inf.html#afbc4bac36a49fde059a84d03cbb399e3">CPosePDFGaussianInf</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &init_Mean)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor with a mean value (inverse covariance=all zeros -> so be careful!) <a href="#afbc4bac36a49fde059a84d03cbb399e3"></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_pose_p_d_f_gaussian_inf.html#a6d16015b25edec9602eeb1a5fe1f2acb">CPosePDFGaussianInf</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &init_Mean, const <a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> &init_CovInv)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#a6d16015b25edec9602eeb1a5fe1f2acb"></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_pose_p_d_f_gaussian_inf.html#ad209018a285d32552887876c11a68c86">CPosePDFGaussianInf</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 constructor, including transformations between other PDFs. <a href="#ad209018a285d32552887876c11a68c86"></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_pose_p_d_f_gaussian_inf.html#aba5c24c498c9472873c73b5cd9ec4928">CPosePDFGaussianInf</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html">CPose3DPDF</a> &o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Copy constructor, including transformations between other PDFs. <a href="#aba5c24c498c9472873c73b5cd9ec4928"></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_pose_p_d_f_gaussian_inf.html#a22a2799d8f4249a3c9e2a9a51d942a04">getMean</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</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="#a22a2799d8f4249a3c9e2a9a51d942a04"></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_pose_p_d_f_gaussian_inf.html#a04a1013427f82615c68705adf44a6607">getCovarianceAndMean</a> (<a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> &cov, <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &mean_point) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once. <a href="#a04a1013427f82615c68705adf44a6607"></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_pose_p_d_f_gaussian_inf.html#a97da760ecf3ca8377deaca8de450f608">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="#a97da760ecf3ca8377deaca8de450f608"></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_pose_p_d_f_gaussian_inf.html#ac0ca29295246d5b0ae179e3c4a779026">copyFrom</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html">CPose3DPDF</a> &o)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Copy operator, translating if necesary (for example, between particles and gaussian representations) <a href="#ac0ca29295246d5b0ae179e3c4a779026"></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_pose_p_d_f_gaussian_inf.html#a06cd0ebadc05111395af699b55d6babe">saveToTextFile</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &file) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save PDF's particles to a text file, containing the 2D pose in the first line, then the covariance matrix in next 3 lines. <a href="#a06cd0ebadc05111395af699b55d6babe"></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_pose_p_d_f_gaussian_inf.html#a9f7e7354bd6a19d0d4cf207860f87802">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="#a9f7e7354bd6a19d0d4cf207860f87802"></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_pose_p_d_f_gaussian_inf.html#a1624dbd3676ea2e3501c2447f22ae9af">changeCoordinatesReference</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</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="#a1624dbd3676ea2e3501c2447f22ae9af"></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_pose_p_d_f_gaussian_inf.html#ae2382942ea13b20600044b43c684df16">rotateCov</a> (const double ang)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Rotate the covariance matrix by replacing it by <img class="formulaInl" alt="$ \mathbf{R}~\mathbf{COV}~\mathbf{R}^t $" src="form_74.png"/>, where <img class="formulaInl" alt="$ \mathbf{R} = \left[ \begin{array}{ccc} \cos\alpha & -\sin\alpha & 0 \\ \sin\alpha & \cos\alpha & 0 \\ 0 & 0 & 1 \end{array}\right] $" src="form_75.png"/>. <a href="#ae2382942ea13b20600044b43c684df16"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#aaebfc5aef18c88c1c6f068faf1318589">inverseComposition</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html">CPosePDFGaussianInf</a> &x, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html">CPosePDFGaussianInf</a> &ref)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set <img class="formulaInl" alt="$ this = x1 \ominus x0 $" src="form_76.png"/> , computing the mean using the "-" operator and the covariances through the corresponding Jacobians (For 'x0' and 'x1' being independent variables!). <a href="#aaebfc5aef18c88c1c6f068faf1318589"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#ac6d52ded25644d6a2a8f64294ed7a4a3">inverseComposition</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html">CPosePDFGaussianInf</a> &x1, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html">CPosePDFGaussianInf</a> &x0, const <a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> &COV_01)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set <img class="formulaInl" alt="$ this = x1 \ominus x0 $" src="form_76.png"/> , computing the mean using the "-" operator and the covariances through the corresponding Jacobians (Given the 3x3 cross-covariance matrix of variables x0 and x1). <a href="#ac6d52ded25644d6a2a8f64294ed7a4a3"></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_pose_p_d_f_gaussian_inf.html#a66b2c2dab853a9ecc5b2a1466eb4bcc9">drawSingleSample</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &outPart) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draws a single sample from the distribution. <a href="#a66b2c2dab853a9ecc5b2a1466eb4bcc9"></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_pose_p_d_f_gaussian_inf.html#a741d00424b8899a2a4eb094a4c266a09">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 1x3 vectors, where each row contains a (x,y,phi) datum. <a href="#a741d00424b8899a2a4eb094a4c266a09"></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_pose_p_d_f_gaussian_inf.html#a01f452abdbd4bbed8c77a60b35912968">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)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Bayesian fusion of two points gauss. <a href="#a01f452abdbd4bbed8c77a60b35912968"></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_pose_p_d_f_gaussian_inf.html#a8bc7df2acd25649273edd429cc9c34f4">inverse</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html">CPosePDF</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="#a8bc7df2acd25649273edd429cc9c34f4"></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_pose_p_d_f_gaussian_inf.html#a81dade4a1664707f3cfcd83079d43ef8">operator+=</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</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="#a81dade4a1664707f3cfcd83079d43ef8"></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_pose_p_d_f_gaussian_inf.html#aa9971e5d282718e040a9502d45cb0edc">evaluatePDF</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &x) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Evaluates the PDF at a given point. <a href="#aa9971e5d282718e040a9502d45cb0edc"></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_pose_p_d_f_gaussian_inf.html#a6537c0bd5816da4bde096048a8e651c7">evaluateNormalizedPDF</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</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="#a6537c0bd5816da4bde096048a8e651c7"></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_pose_p_d_f_gaussian_inf.html#a1ad2b25268f4f457f6b6344cd663b053">mahalanobisDistanceTo</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html">CPosePDFGaussianInf</a> &theOther)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the Mahalanobis distance between the centers of two Gaussians. <a href="#a1ad2b25268f4f457f6b6344cd663b053"></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_pose_p_d_f_gaussian_inf.html#a87eb7cd6be7ce1cfbe5057b68d2cabe7">operator+=</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html">CPosePDFGaussianInf</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="#a87eb7cd6be7ce1cfbe5057b68d2cabe7"></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_pose_p_d_f_gaussian_inf.html#a48aa41bbd3fc54d2a4ea5d876be3c813">operator-=</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html">CPosePDFGaussianInf</a> &ref)</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="#a48aa41bbd3fc54d2a4ea5d876be3c813"></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"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a534695890364f4b916bba07dad311bcf">duplicateGetSmartPtr</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). <a href="#a534695890364f4b916bba07dad311bcf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a9ef7857a0b36059c078e195a0a65ac00">clone</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cloning interface for smart pointers. <a href="#a9ef7857a0b36059c078e195a0a65ac00"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#afc168fcbcba4191a0e64fc2a3b7c4c78">getMean</a> (TDATA &mean_point) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the mean, or mathematical expectation of the probability density distribution (PDF). <a href="#afc168fcbcba4191a0e64fc2a3b7c4c78"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aef4a7a5d215e4c7e855286ad4a4d1bbe">getCovarianceAndMean</a> (<a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, STATE_LEN, STATE_LEN > &cov, TDATA &mean_point) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. <a href="#aef4a7a5d215e4c7e855286ad4a4d1bbe"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a8a5db2a590d8fcd23408a3d8a8a1f76c">getCovarianceDynAndMean</a> (<a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> &cov, TDATA &mean_point) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. <a href="#a8a5db2a590d8fcd23408a3d8a8a1f76c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">TDATA </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#ad6c0c9844ac63db9c793652e4619c549">getMeanVal</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the mean, or mathematical expectation of the probability density distribution (PDF). <a href="#ad6c0c9844ac63db9c793652e4619c549"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a76a1c94c45614ec2ab8f4b209d126745">getCovariance</a> (<a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> &cov) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) <a href="#a76a1c94c45614ec2ab8f4b209d126745"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a9ac7187b742c121c3338cb767b7994ba">getCovariance</a> (<a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, STATE_LEN, STATE_LEN > &cov) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) <a href="#a9ac7187b742c121c3338cb767b7994ba"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, <br class="typebreak"/>
STATE_LEN, STATE_LEN > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a689312caf79ee5268fa913e3fa5c82c0">getCovariance</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) <a href="#a689312caf79ee5268fa913e3fa5c82c0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#ae8879d10e9d7a6c94211dd0ffffc4c9d">drawSingleSample</a> (TDATA &outPart) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draws a single sample from the distribution. <a href="#ae8879d10e9d7a6c94211dd0ffffc4c9d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a311648912f182acf9fc0896208492216">getCovarianceEntropy</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Compute the entropy of the estimated covariance matrix. <a href="#a311648912f182acf9fc0896208492216"></a><br/></td></tr>
<tr><td 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_pose_p_d_f_gaussian_inf.html#a0a61ac36fd4a8d626869a110f3d27443">jacobiansPoseComposition</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html">CPosePDFGaussianInf</a> &x, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html">CPosePDFGaussianInf</a> &u, <a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> &df_dx, <a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> &df_du)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This static method computes the pose composition Jacobians, with these formulas: <a href="#a0a61ac36fd4a8d626869a110f3d27443"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_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-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td colspan="2"><div class="groupHeader">Data fields</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#ad7ca9a20eeb844d44b72d306e3185a1d">mean</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The mean value. <a href="#ad7ca9a20eeb844d44b72d306e3185a1d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#a587a5280102e9da590535670249e0c0c">cov_inv</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The inverse of the 3x3 covariance matrix (the "information" matrix) <a href="#a587a5280102e9da590535670249e0c0c"></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_pose_p_d_f_gaussian_inf.html#a8afe66206f577a02ba602be163a38688">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="#a8afe66206f577a02ba602be163a38688"></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_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 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_pose_p_d_f_gaussian_inf_ptr.html">CPosePDFGaussianInfPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#ab276a8592a859accdf378e899ab59ccf">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_pose_p_d_f_gaussian_inf.html#a397b96258f57bb74759e9ad2b2ded8c3">_init_CPosePDFGaussianInf</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_pose_p_d_f_gaussian_inf.html#a1af8da90e1d63b890eeb86509755faf6">classCPosePDFGaussianInf</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_gaussian_inf.html#a5c25985d8243a8879ed51a95fccdb045">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_pose_p_d_f_gaussian_inf.html#a3906e9b91f4df76a24155dca42798cad">_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_gaussian_inf.html#acac8a6cc94a1a0a530a5428e5e3efd77">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="#acac8a6cc94a1a0a530a5428e5e3efd77"></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_pose_p_d_f_gaussian_inf.html#a7846f251ee6c4a06823a9e317efe9425">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="#a7846f251ee6c4a06823a9e317efe9425"></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_pose_p_d_f_gaussian_inf.html#a6d5bf436bd3ce0bf1a6e6003c34063ce">CreateObject</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf_ptr.html">CPosePDFGaussianInfPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#a042c7a3fb46471d2d4012f803d5cefdd">Create</a> ()</td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="ab276a8592a859accdf378e899ab59ccf"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::SmartPtr" ref="ab276a8592a859accdf378e899ab59ccf" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf_ptr.html">CPosePDFGaussianInfPtr</a> <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#ab276a8592a859accdf378e899ab59ccf">mrpt::poses::CPosePDFGaussianInf::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_pose_p_d_f_gaussian_inf_8h_source.html#l00058">58</a> of file <a class="el" href="_c_pose_p_d_f_gaussian_inf_8h_source.html">CPosePDFGaussianInf.h</a>.</p>
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<a class="anchor" id="ab4d442c6713a2aaac04cf79bee93c251"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::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::CPosePDFGaussianInf::@38" ref="a78099595e3a530684ad3a13fc4fd7b4d" args="" -->
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<td class="memname">anonymous enum<code> [inherited]</code></td>
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<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a78099595e3a530684ad3a13fc4fd7b4dab32bd9924253df5766c457da8e44181e"></a><!-- doxytag: member="is_3D_val" ref="a78099595e3a530684ad3a13fc4fd7b4dab32bd9924253df5766c457da8e44181e" args="" -->is_3D_val</em> </td><td>
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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::CPosePDFGaussianInf::@39" ref="a7cbf144d5c341d584ec473fd1da8c6bc" args="" -->
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<td class="memname">anonymous enum<code> [inherited]</code></td>
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<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a7cbf144d5c341d584ec473fd1da8c6bcae730029e8ea27257d5355d025c6b111a"></a><!-- doxytag: member="is_PDF_val" ref="a7cbf144d5c341d584ec473fd1da8c6bcae730029e8ea27257d5355d025c6b111a" args="" -->is_PDF_val</em> </td><td>
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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>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a1f7429960bab166292bbfce678ed5f47"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::CPosePDFGaussianInf" ref="a1f7429960bab166292bbfce678ed5f47" args="()" -->
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<td class="memname">mrpt::poses::CPosePDFGaussianInf::CPosePDFGaussianInf </td>
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<p>Default constructor (mean=all zeros, inverse covariance=all zeros -> so be careful!) </p>
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<a class="anchor" id="afbc4bac36a49fde059a84d03cbb399e3"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::CPosePDFGaussianInf" ref="afbc4bac36a49fde059a84d03cbb399e3" args="(const CPose2D &init_Mean)" -->
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<td class="memname">mrpt::poses::CPosePDFGaussianInf::CPosePDFGaussianInf </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>init_Mean</em></td><td>)</td>
<td><code> [explicit]</code></td>
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<p>Constructor with a mean value (inverse covariance=all zeros -> so be careful!) </p>
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<a class="anchor" id="a6d16015b25edec9602eeb1a5fe1f2acb"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::CPosePDFGaussianInf" ref="a6d16015b25edec9602eeb1a5fe1f2acb" args="(const CPose2D &init_Mean, const CMatrixDouble33 &init_CovInv)" -->
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<td class="memname">mrpt::poses::CPosePDFGaussianInf::CPosePDFGaussianInf </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</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#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> & </td>
<td class="paramname"><em>init_CovInv</em> </td>
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<td>)</td>
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<p>Constructor. </p>
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<a class="anchor" id="ad209018a285d32552887876c11a68c86"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::CPosePDFGaussianInf" ref="ad209018a285d32552887876c11a68c86" args="(const CPosePDF &o)" -->
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<td class="memname">mrpt::poses::CPosePDFGaussianInf::CPosePDFGaussianInf </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> [inline, explicit]</code></td>
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<p>Copy constructor, including transformations between other PDFs. </p>
<p>Definition at line <a class="el" href="_c_pose_p_d_f_gaussian_inf_8h_source.html#l00087">87</a> of file <a class="el" href="_c_pose_p_d_f_gaussian_inf_8h_source.html">CPosePDFGaussianInf.h</a>.</p>
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<a class="anchor" id="aba5c24c498c9472873c73b5cd9ec4928"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::CPosePDFGaussianInf" ref="aba5c24c498c9472873c73b5cd9ec4928" args="(const CPose3DPDF &o)" -->
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html">CPose3DPDF</a> & </td>
<td class="paramname"><em>o</em></td><td>)</td>
<td><code> [inline, explicit]</code></td>
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<p>Copy constructor, including transformations between other PDFs. </p>
<p>Definition at line <a class="el" href="_c_pose_p_d_f_gaussian_inf_8h_source.html#l00090">90</a> of file <a class="el" href="_c_pose_p_d_f_gaussian_inf_8h_source.html">CPosePDFGaussianInf.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a3906e9b91f4df76a24155dca42798cad"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::_GetBaseClass" ref="a3906e9b91f4df76a24155dca42798cad" 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::CPosePDFGaussianInf::_GetBaseClass </td>
<td>(</td>
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<td><code> [static, protected]</code></td>
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<p>Reimplemented from <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#a513d0c42ed405a89e5276af91ab0b169">mrpt::poses::CPosePDF</a>.</p>
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<a class="anchor" id="a8afe66206f577a02ba602be163a38688"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::assureSymmetry" ref="a8afe66206f577a02ba602be163a38688" args="()" -->
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<td class="memname">void mrpt::poses::CPosePDFGaussianInf::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="a01f452abdbd4bbed8c77a60b35912968"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::bayesianFusion" ref="a01f452abdbd4bbed8c77a60b35912968" args="(const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0)" -->
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<td class="memname">void mrpt::poses::CPosePDFGaussianInf::bayesianFusion </td>
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<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 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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<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_pose_p_d_f.html#acb56750e833e1f8a69d7d51eb0d0c4af">mrpt::poses::CPosePDF</a>.</p>
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<a class="anchor" id="a9f7e7354bd6a19d0d4cf207860f87802"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::changeCoordinatesReference" ref="a9f7e7354bd6a19d0d4cf207860f87802" args="(const CPose3D &newReferenceBase)" -->
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<td><code> [virtual]</code></td>
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<p>This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. </p>
<p>Result PDF substituted the currently stored one in the object. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aac79fa433163e2ffe0cb3c12d02e61ba">mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 ></a>.</p>
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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="a9ef7857a0b36059c078e195a0a65ac00"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::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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<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="a97da760ecf3ca8377deaca8de450f608"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::copyFrom" ref="a97da760ecf3ca8377deaca8de450f608" args="(const CPosePDF &o)" -->
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<td class="memname">void mrpt::poses::CPosePDFGaussianInf::copyFrom </td>
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<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_pose_p_d_f.html#ae4665eb85fdf3680ea9cf4a8a9120619">mrpt::poses::CPosePDF</a>.</p>
<p>Referenced by <a class="el" href="_c_network_of_poses__impl_8h_source.html#l00106">mrpt::graphs::detail::graph_ops::write_EDGE_line()</a>.</p>
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<a class="anchor" id="ac0ca29295246d5b0ae179e3c4a779026"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::copyFrom" ref="ac0ca29295246d5b0ae179e3c4a779026" args="(const CPose3DPDF &o)" -->
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<td class="memname">void mrpt::poses::CPosePDFGaussianInf::copyFrom </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="a042c7a3fb46471d2d4012f803d5cefdd"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::Create" ref="a042c7a3fb46471d2d4012f803d5cefdd" args="()" -->
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<td class="memname">static <a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf_ptr.html">CPosePDFGaussianInfPtr</a> mrpt::poses::CPosePDFGaussianInf::Create </td>
<td>(</td>
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<td><code> [static]</code></td>
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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::CPosePDFGaussianInf::CreateObject </td>
<td>(</td>
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<td><code> [static]</code></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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<td>)</td>
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<p>Draws a number of samples from the distribution, and saves as a list of 1x3 vectors, where each row contains a (x,y,phi) datum. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aa437cf2c11cb0e937e851a0f498a4fb2">mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 ></a>.</p>
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<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::drawSingleSample </td>
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<td class="paramtype">TDATA & </td>
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<p>Draws a single sample from the distribution. </p>
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<td class="memname">void mrpt::poses::CPosePDFGaussianInf::drawSingleSample </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>outPart</em></td><td>)</td>
<td> const</td>
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<p>Draws a single sample from the distribution. </p>
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<td class="memname">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::poses::CPosePDFGaussianInf::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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<p>Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). </p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00151">151</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<td class="memname">double mrpt::poses::CPosePDFGaussianInf::evaluateNormalizedPDF </td>
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<p>Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]. </p>
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<td class="memname">double mrpt::poses::CPosePDFGaussianInf::evaluatePDF </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<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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<td class="memname">void mrpt::poses::CPosePDF::getAs3DObject </td>
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<p>Returns a 3D representation of this PDF. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>Needs the mrpt-opengl library, and using <a class="el" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">mrpt::opengl::CSetOfObjectsPtr</a> as template argument. </dd></dl>
<p>Definition at line <a class="el" href="_c_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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<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::CPosePDFGaussianInf::getCovariance" ref="a76a1c94c45614ec2ab8f4b209d126745" args="(CMatrixDouble &cov) const " -->
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<td class="memname">void mrpt::utils::CProbabilityDensityFunction::getCovariance </td>
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<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> & </td>
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<p>Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getMean, getCovarianceAndMean </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00089">89</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
<p>References <a class="el" href="_c_probability_density_function_8h_source.html#l00069">mrpt::utils::CProbabilityDensityFunction::getCovarianceDynAndMean()</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>
<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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<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::CPosePDFGaussianInf::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>
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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="a04a1013427f82615c68705adf44a6607"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::getCovarianceAndMean" ref="a04a1013427f82615c68705adf44a6607" args="(CMatrixDouble33 &cov, CPose2D &mean_point) const " -->
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<p>Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#a22a2799d8f4249a3c9e2a9a51d942a04" title="Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).">getMean</a> </dd></dl>
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<td class="memname">void mrpt::utils::CProbabilityDensityFunction::getCovarianceDynAndMean </td>
<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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<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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<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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<td class="memname">void mrpt::poses::CPosePDFGaussianInf::getMean </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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<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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<td class="memname">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a>& mrpt::poses::CPosePDFGaussianInf::getPoseMean </td>
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<td class="paramname"></td><td>)</td>
<td> const<code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_pose_p_d_f_gaussian_inf_8h_source.html#l00074">74</a> of file <a class="el" href="_c_pose_p_d_f_gaussian_inf_8h_source.html">CPosePDFGaussianInf.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="a192ed469cad0982db28bda8e9fe4a0e6"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::getPoseMean" ref="a192ed469cad0982db28bda8e9fe4a0e6" args="()" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a>& mrpt::poses::CPosePDFGaussianInf::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_pose_p_d_f_gaussian_inf_8h_source.html#l00075">75</a> of file <a class="el" href="_c_pose_p_d_f_gaussian_inf_8h_source.html">CPosePDFGaussianInf.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="acac8a6cc94a1a0a530a5428e5e3efd77"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::GetRuntimeClass" ref="acac8a6cc94a1a0a530a5428e5e3efd77" 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::CPosePDFGaussianInf::GetRuntimeClass </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [virtual]</code></td>
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<p>Returns information about the class of an object in runtime. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#a014d3940aa5b080b5b7b38ee157d5578">mrpt::poses::CPosePDF</a>.</p>
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<a class="anchor" id="a8bc7df2acd25649273edd429cc9c34f4"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::inverse" ref="a8bc7df2acd25649273edd429cc9c34f4" args="(CPosePDF &o) const " -->
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<td class="memname">void mrpt::poses::CPosePDFGaussianInf::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> [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_pose_p_d_f.html#aeeb6b08bacd4308d67376b8ae8bcb9d4">mrpt::poses::CPosePDF</a>.</p>
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<a class="anchor" id="aaebfc5aef18c88c1c6f068faf1318589"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::inverseComposition" ref="aaebfc5aef18c88c1c6f068faf1318589" args="(const CPosePDFGaussianInf &x, const CPosePDFGaussianInf &ref)" -->
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<td class="memname">void mrpt::poses::CPosePDFGaussianInf::inverseComposition </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html">CPosePDFGaussianInf</a> & </td>
<td class="paramname"><em>x</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html">CPosePDFGaussianInf</a> & </td>
<td class="paramname"><em>ref</em> </td>
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<td></td>
<td>)</td>
<td></td><td></td>
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<p>Set <img class="formulaInl" alt="$ this = x1 \ominus x0 $" src="form_76.png"/> , computing the mean using the "-" operator and the covariances through the corresponding Jacobians (For 'x0' and 'x1' being independent variables!). </p>
<p>Referenced by <a class="el" href="_c_pose_p_d_f_gaussian_inf_8h_source.html#l00223">mrpt::poses::operator-()</a>.</p>
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<a class="anchor" id="ac6d52ded25644d6a2a8f64294ed7a4a3"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::inverseComposition" ref="ac6d52ded25644d6a2a8f64294ed7a4a3" args="(const CPosePDFGaussianInf &x1, const CPosePDFGaussianInf &x0, const CMatrixDouble33 &COV_01)" -->
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<td class="memname">void mrpt::poses::CPosePDFGaussianInf::inverseComposition </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html">CPosePDFGaussianInf</a> & </td>
<td class="paramname"><em>x1</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html">CPosePDFGaussianInf</a> & </td>
<td class="paramname"><em>x0</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> & </td>
<td class="paramname"><em>COV_01</em> </td>
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<td>)</td>
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<p>Set <img class="formulaInl" alt="$ this = x1 \ominus x0 $" src="form_76.png"/> , computing the mean using the "-" operator and the covariances through the corresponding Jacobians (Given the 3x3 cross-covariance matrix of variables x0 and x1). </p>
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<a class="anchor" id="a1c7943d0ab77c8ea3f46b86309069aad"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::is_3D" ref="a1c7943d0ab77c8ea3f46b86309069aad" args="()" -->
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<td class="memname">static bool mrpt::poses::CPosePDF::is_3D </td>
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<td><code> [inline, static, inherited]</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::CPosePDFGaussianInf::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, inherited]</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="a0a61ac36fd4a8d626869a110f3d27443"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::jacobiansPoseComposition" ref="a0a61ac36fd4a8d626869a110f3d27443" args="(const CPosePDFGaussianInf &x, const CPosePDFGaussianInf &u, CMatrixDouble33 &df_dx, CMatrixDouble33 &df_du)" -->
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<td class="memname">static void mrpt::poses::CPosePDFGaussianInf::jacobiansPoseComposition </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html">CPosePDFGaussianInf</a> & </td>
<td class="paramname"><em>x</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html">CPosePDFGaussianInf</a> & </td>
<td class="paramname"><em>u</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> & </td>
<td class="paramname"><em>df_dx</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> & </td>
<td class="paramname"><em>df_du</em> </td>
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<td></td>
<td>)</td>
<td></td><td><code> [static]</code></td>
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<p>This static method computes the pose composition Jacobians, with these formulas: </p>
<div class="fragment"><pre class="fragment"> df_dx =
[ 1, 0, -sin(phi_x)*x_u-cos(phi_x)*y_u ]
[ 0, 1, cos(phi_x)*x_u-sin(phi_x)*y_u ]
[ 0, 0, 1 ]
df_du =
[ cos(phi_x) , -sin(phi_x) , 0 ]
[ sin(phi_x) , cos(phi_x) , 0 ]
[ 0 , 0 , 1 ]
</pre></div>
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<a class="anchor" id="a1ad2b25268f4f457f6b6344cd663b053"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::mahalanobisDistanceTo" ref="a1ad2b25268f4f457f6b6344cd663b053" args="(const CPosePDFGaussianInf &theOther)" -->
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<td class="memname">double mrpt::poses::CPosePDFGaussianInf::mahalanobisDistanceTo </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html">CPosePDFGaussianInf</a> & </td>
<td class="paramname"><em>theOther</em></td><td>)</td>
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<p>Computes the Mahalanobis distance between the centers of two Gaussians. </p>
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<a class="anchor" id="a81dade4a1664707f3cfcd83079d43ef8"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::operator+=" ref="a81dade4a1664707f3cfcd83079d43ef8" args="(const CPose2D &Ap)" -->
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<td class="memname">void mrpt::poses::CPosePDFGaussianInf::operator+= </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>Ap</em></td><td>)</td>
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<p>Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). </p>
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<a class="anchor" id="a87eb7cd6be7ce1cfbe5057b68d2cabe7"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::operator+=" ref="a87eb7cd6be7ce1cfbe5057b68d2cabe7" args="(const CPosePDFGaussianInf &Ap)" -->
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<td class="memname">void mrpt::poses::CPosePDFGaussianInf::operator+= </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html">CPosePDFGaussianInf</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="a48aa41bbd3fc54d2a4ea5d876be3c813"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::operator-=" ref="a48aa41bbd3fc54d2a4ea5d876be3c813" args="(const CPosePDFGaussianInf &ref)" -->
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<td class="memname">void mrpt::poses::CPosePDFGaussianInf::operator-= </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html">CPosePDFGaussianInf</a> & </td>
<td class="paramname"><em>ref</em></td><td>)</td>
<td><code> [inline]</code></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>
<p>Definition at line <a class="el" href="_c_pose_p_d_f_gaussian_inf_8h_source.html#l00185">185</a> of file <a class="el" href="_c_pose_p_d_f_gaussian_inf_8h_source.html">CPosePDFGaussianInf.h</a>.</p>
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<a class="anchor" id="a73ba83035a64939cdc3aa1c0dfed23ec"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::readFromStream" ref="a73ba83035a64939cdc3aa1c0dfed23ec" args="(mrpt::utils::CStream &in, int version)=0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::readFromStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>in</em>, </td>
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<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>version</em> </td>
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<td>)</td>
<td></td><td><code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">in</td><td>The input binary stream where the object data must read from. </td></tr>
<tr><td class="paramname">version</td><td>The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d" title="Reads a block of bytes from the stream into Buffer On any error, or if ZERO bytes are read...">CStream::ReadBuffer</a> </td></tr>
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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="ae2382942ea13b20600044b43c684df16"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::rotateCov" ref="ae2382942ea13b20600044b43c684df16" args="(const double ang)" -->
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<td class="memname">void mrpt::poses::CPosePDFGaussianInf::rotateCov </td>
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<td class="paramtype">const double </td>
<td class="paramname"><em>ang</em></td><td>)</td>
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<p>Rotate the covariance matrix by replacing it by <img class="formulaInl" alt="$ \mathbf{R}~\mathbf{COV}~\mathbf{R}^t $" src="form_74.png"/>, where <img class="formulaInl" alt="$ \mathbf{R} = \left[ \begin{array}{ccc} \cos\alpha & -\sin\alpha & 0 \\ \sin\alpha & \cos\alpha & 0 \\ 0 & 0 & 1 \end{array}\right] $" src="form_75.png"/>. </p>
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<a class="anchor" id="a06cd0ebadc05111395af699b55d6babe"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::saveToTextFile" ref="a06cd0ebadc05111395af699b55d6babe" args="(const std::string &file) const " -->
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<td class="memname">void mrpt::poses::CPosePDFGaussianInf::saveToTextFile </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>file</em></td><td>)</td>
<td> const<code> [virtual]</code></td>
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<p>Save PDF's particles to a text file, containing the 2D pose in the first line, then the covariance matrix in next 3 lines. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a960b9e93abcf834b4bb5ce5f880b2570">mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 ></a>.</p>
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<a class="anchor" id="a0b6b801e67bca3d8e0d355e7035f8013"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::writeToStream" ref="a0b6b801e67bca3d8e0d355e7035f8013" args="(mrpt::utils::CStream &out, int *getVersion) const =0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::writeToStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int * </td>
<td class="paramname"><em>getVersion</em> </td>
</tr>
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<td>)</td>
<td></td><td> const<code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. </p>
<p>This can not be used directly be users, instead use "stream << object;" for writing it to a stream. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out</td><td>The output binary stream where object must be dumped. </td></tr>
<tr><td class="paramname">getVersion</td><td>If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a276005e7110c9de74ff3277b3f7bf621" title="Writes a block of bytes to the stream from Buffer.">CStream::WriteBuffer</a> </td></tr>
</table>
</dd>
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<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a767e787b52208ab4dd46ba7f5e2fd224">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a059d7eaf80dab9c7435154146d2b7dbf">mrpt::math::CMatrix</a>.</p>
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<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="a6fec28a53e20dfc1c4d046c26f9f7b48"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::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_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="a397b96258f57bb74759e9ad2b2ded8c3"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::_init_CPosePDFGaussianInf" ref="a397b96258f57bb74759e9ad2b2ded8c3" 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_pose_p_d_f_gaussian_inf.html#a397b96258f57bb74759e9ad2b2ded8c3">mrpt::poses::CPosePDFGaussianInf::_init_CPosePDFGaussianInf</a><code> [static, protected]</code></td>
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<p>Definition at line <a class="el" href="_c_pose_p_d_f_gaussian_inf_8h_source.html#l00058">58</a> of file <a class="el" href="_c_pose_p_d_f_gaussian_inf_8h_source.html">CPosePDFGaussianInf.h</a>.</p>
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<a class="anchor" id="acb51e4dd811d62c2696aee449d0a4715"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::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::CPosePDFGaussianInf::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, inherited]</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="a1af8da90e1d63b890eeb86509755faf6"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::classCPosePDFGaussianInf" ref="a1af8da90e1d63b890eeb86509755faf6" 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_pose_p_d_f_gaussian_inf.html#a1af8da90e1d63b890eeb86509755faf6">mrpt::poses::CPosePDFGaussianInf::classCPosePDFGaussianInf</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_pose_p_d_f_gaussian_inf_8h_source.html#l00058">58</a> of file <a class="el" href="_c_pose_p_d_f_gaussian_inf_8h_source.html">CPosePDFGaussianInf.h</a>.</p>
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<a class="anchor" id="a28ec2a03d277a8469b8ecfc81892afdf"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::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="a5c25985d8243a8879ed51a95fccdb045"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::classinfo" ref="a5c25985d8243a8879ed51a95fccdb045" 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_gaussian_inf.html#a5c25985d8243a8879ed51a95fccdb045">mrpt::poses::CPosePDFGaussianInf::classinfo</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_pose_p_d_f_gaussian_inf_8h_source.html#l00058">58</a> of file <a class="el" href="_c_pose_p_d_f_gaussian_inf_8h_source.html">CPosePDFGaussianInf.h</a>.</p>
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<a class="anchor" id="a587a5280102e9da590535670249e0c0c"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::cov_inv" ref="a587a5280102e9da590535670249e0c0c" args="" -->
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<td class="memname"><a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#a587a5280102e9da590535670249e0c0c">mrpt::poses::CPosePDFGaussianInf::cov_inv</a></td>
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<p>The inverse of the 3x3 covariance matrix (the "information" matrix) </p>
<p>Definition at line <a class="el" href="_c_pose_p_d_f_gaussian_inf_8h_source.html#l00070">70</a> of file <a class="el" href="_c_pose_p_d_f_gaussian_inf_8h_source.html">CPosePDFGaussianInf.h</a>.</p>
<p>Referenced by <a class="el" href="_c_network_of_poses__impl_8h_source.html#l00080">mrpt::graphs::detail::graph_ops::write_EDGE_line()</a>, and <a class="el" href="_c_network_of_poses__impl_8h_source.html#l00500">mrpt::graphs::detail::graph_ops::auxMaha2Dist()</a>.</p>
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<a class="anchor" id="ad7ca9a20eeb844d44b72d306e3185a1d"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::mean" ref="ad7ca9a20eeb844d44b72d306e3185a1d" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#ad7ca9a20eeb844d44b72d306e3185a1d">mrpt::poses::CPosePDFGaussianInf::mean</a></td>
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<p>The mean value. </p>
<p>Definition at line <a class="el" href="_c_pose_p_d_f_gaussian_inf_8h_source.html#l00069">69</a> of file <a class="el" href="_c_pose_p_d_f_gaussian_inf_8h_source.html">CPosePDFGaussianInf.h</a>.</p>
<p>Referenced by <a class="el" href="_c_network_of_poses__impl_8h_source.html#l00054">mrpt::graphs::detail::TPosePDFHelper< CPose2D >::copyFrom2D()</a>, <a class="el" href="_c_network_of_poses__impl_8h_source.html#l00059">mrpt::graphs::detail::TPosePDFHelper< CPose3D >::copyFrom2D()</a>, and <a class="el" href="_c_network_of_poses__impl_8h_source.html#l00080">mrpt::graphs::detail::graph_ops::write_EDGE_line()</a>.</p>
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<a class="anchor" id="a77a06347b68aa3c08de63c790d88eb12"></a><!-- doxytag: member="mrpt::poses::CPosePDFGaussianInf::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>
