<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1">
<title>mrpt::poses::CPosePDFGrid Class Reference</title>
<link href="doxygen.css" rel="stylesheet" type="text/css">
<link href="tabs.css" rel="stylesheet" type="text/css">
</head><body>
<div align="left"><a href="http://www.mrpt.org/">Main MRPT website</a> > <b>C++ reference</b> </div>
<div align="right">
<a href="index.html"><img border="0" src="mrpt_logo.png" alt="MRPT logo"></a>
</div>
<!-- Generated by Doxygen 1.7.5 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
<div id="navrow1" class="tabs">
<ul class="tablist">
<li><a href="index.html"><span>Main Page</span></a></li>
<li><a href="pages.html"><span>Related Pages</span></a></li>
<li><a href="modules.html"><span>Modules</span></a></li>
<li><a href="namespaces.html"><span>Namespaces</span></a></li>
<li class="current"><a href="annotated.html"><span>Classes</span></a></li>
<li><a href="files.html"><span>Files</span></a></li>
<li>
<div id="MSearchBox" class="MSearchBoxInactive">
<div class="left">
<form id="FSearchBox" action="search.php" method="get">
<img id="MSearchSelect" src="search/mag.png" alt=""/>
<input type="text" id="MSearchField" name="query" value="Search" size="20" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"/>
</form>
</div><div class="right"></div>
</div>
</li>
</ul>
</div>
<div id="navrow2" class="tabs2">
<ul class="tablist">
<li><a href="annotated.html"><span>Class List</span></a></li>
<li><a href="classes.html"><span>Class Index</span></a></li>
<li><a href="inherits.html"><span>Class Hierarchy</span></a></li>
<li><a href="functions.html"><span>Class Members</span></a></li>
</ul>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
<li class="navelem"><a class="el" href="namespacemrpt_1_1poses.html">poses</a> </li>
<li class="navelem"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid.html">CPosePDFGrid</a> </li>
</ul>
</div>
</div>
<div class="header">
<div class="summary">
<a href="#pub-types">Public Types</a> |
<a href="#pub-methods">Public Member Functions</a> |
<a href="#pub-static-methods">Static Public Member Functions</a> |
<a href="#pub-static-attribs">Static Public Attributes</a> |
<a href="#pro-methods">Protected Member Functions</a> |
<a href="#pro-attribs">Protected Attributes</a> </div>
<div class="headertitle">
<div class="title">mrpt::poses::CPosePDFGrid Class Reference<div class="ingroups"><a class="el" href="group__poses__pdf__grp.html">2D/3D point and pose PDFs</a></div></div> </div>
</div>
<div class="contents">
<!-- doxytag: class="mrpt::poses::CPosePDFGrid" --><!-- doxytag: inherits="mrpt::poses::CPosePDF,CPose2DGridTemplate< double >" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Declares a class that represents a Probability Distribution function (PDF) of a 2D pose (x,y,phi). </p>
<p>This class implements that PDF using a 3D grid.</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_pose2_d_grid_template.html" title="This is a template class for storing a 3D (2D+heading) grid containing any kind of data...">CPose2DGridTemplate</a> </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_pose_p_d_f_grid_8h_source.html">mrpt/poses/CPosePDFGrid.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::poses::CPosePDFGrid:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid__inherit__graph.png" border="0" usemap="#mrpt_1_1poses_1_1_c_pose_p_d_f_grid_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1poses_1_1_c_pose_p_d_f_grid_inherit__map" id="mrpt_1_1poses_1_1_c_pose_p_d_f_grid_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="942,56,1109,83"/><area shape="rect" id="node4" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT..." alt="" coords="504,5,669,32"/><area shape="rect" id="node6" href="classmrpt_1_1utils_1_1_c_object.html" title="The virtual base class of all MRPT classes with a unified RTTI system." alt="" coords="65,5,201,32"/><area shape="rect" id="node8" href="classmrpt_1_1utils_1_1_c_probability_density_function.html" title="mrpt::utils::CProbabilityDensityFunction\< CPose2D, 3 \>" alt="" coords="411,56,762,83"/><area shape="rect" id="node10" href="classmrpt_1_1utils_1_1_c_probability_density_function.html" title="A generic template for probability density distributions (PDFs)." alt="" coords="6,56,261,83"/><area shape="rect" id="node12" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html" title="mrpt::poses::CPose2DGridTemplate\< double \>" alt="" coords="877,107,1173,133"/><area shape="rect" id="node14" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html" title="This is a template class for storing a 3D (2D+heading) grid containing any kind of data..." alt="" coords="469,107,704,133"/></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_grid-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"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid.html#afd990ba89165dabc7157d0a54d60e19f">CPosePDFGrid</a> (double xMin=-1.0f, double xMax=1.0f, double yMin=-1.0f, double yMax=1.0f, double resolutionXY=0.5f, double resolutionPhi=DEG2RAD(180), double phiMin=-M_PIf, double phiMax=M_PIf)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor: Initializes a, uniform distribution over the whole given range. <a href="#afd990ba89165dabc7157d0a54d60e19f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid.html#a23f5fde088187283c430c22040fc8d91">~CPosePDFGrid</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a23f5fde088187283c430c22040fc8d91"></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_grid.html#af20b5e4d3b9d5b85cc50718bcda2d687">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="#af20b5e4d3b9d5b85cc50718bcda2d687"></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_grid.html#a35ec04c16c281932b436852cb34f2b95">normalize</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Normalizes the PDF, such as all cells sum the unity. <a href="#a35ec04c16c281932b436852cb34f2b95"></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_grid.html#afd6822a6d8d3f9f6b2cb8ba8bb30c88a">uniformDistribution</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Assigns the same value to all the cells in the grid, so the sum 1. <a href="#afd6822a6d8d3f9f6b2cb8ba8bb30c88a"></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_grid.html#af70c66cae63bfe66ea5f8b49304b4c0b">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="#af70c66cae63bfe66ea5f8b49304b4c0b"></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_grid.html#aab0f89a85d187846b96c64cb8385300b">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="#aab0f89a85d187846b96c64cb8385300b"></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_grid.html#ad1d062f97efcac0b604a85edf84cbf27">saveToTextFile</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &dataFile) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save the contents of the 3D grid in one file, as a vertical concatenation of rectangular matrix for the different "PHI" discrete levels, and the size in X,Y,and PHI in another file named "<filename>_dims.txt". <a href="#ad1d062f97efcac0b604a85edf84cbf27"></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_grid.html#a0f6224ea68902073f214972fbadaccdc">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="#a0f6224ea68902073f214972fbadaccdc"></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_grid.html#a112077676ecda89e783f61d580c3d10a">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 2 densities (In the grid representation this becomes a pointwise multiplication) <a href="#a112077676ecda89e783f61d580c3d10a"></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_grid.html#a5dcfbdd40948b6bae1ef6b3159aabbfb">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="#a5dcfbdd40948b6bae1ef6b3159aabbfb"></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_grid.html#af98f3e9c54d3f7d5a108b27997ca6c3b">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 (WARNING: weights are assumed to be normalized!) <a href="#af98f3e9c54d3f7d5a108b27997ca6c3b"></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_grid.html#a34a0f0f653d0520e4cca78e222fd8cfc">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="#a34a0f0f653d0520e4cca78e222fd8cfc"></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 class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#a74dc6fc9edb1afac78871cdc2da7e781">x2idx</a> (double x) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns "indexes" from coordinates: <a href="#a74dc6fc9edb1afac78871cdc2da7e781"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#afa6b2740b6fed388ef27e84bb6d060f6">y2idx</a> (double y) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns "indexes" from coordinates: <a href="#afa6b2740b6fed388ef27e84bb6d060f6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#adc6a7f7269cd1f28cb78d6a995f48095">phi2idx</a> (double phi) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns "indexes" from coordinates: <a href="#adc6a7f7269cd1f28cb78d6a995f48095"></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_pose2_d_grid_template.html#ab37a17dfde07391570b23f94e2af0251">idx2x</a> (size_t x) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns coordinates from "indexes": <a href="#ab37a17dfde07391570b23f94e2af0251"></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_pose2_d_grid_template.html#a34f0fe36145e221c0da3b3413181216a">idx2y</a> (size_t y) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns coordinates from "indexes": <a href="#a34f0fe36145e221c0da3b3413181216a"></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_pose2_d_grid_template.html#ad3cc377f5ac063f3d9c5cc01b99dc824">idx2phi</a> (size_t phi) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns coordinates from "indexes": <a href="#ad3cc377f5ac063f3d9c5cc01b99dc824"></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_pose2_d_grid_template.html#af27a0eb13f8096ba3aaf0e09a150f12e">setSize</a> (double xMin, double xMax, double yMin, double yMax, double resolutionXY, double resolutionPhi, double phiMin=-M_PIf, double phiMax=M_PIf)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Changes the limits and size of the grid, erasing previous contents: <a href="#af27a0eb13f8096ba3aaf0e09a150f12e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const T * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#a188bde8c0751e267f8b1f3022a620963">getByPos</a> (double x, double y, double phi) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reads the contents of a cell. <a href="#a188bde8c0751e267f8b1f3022a620963"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">T * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#a81e844a6348acc0f2d603fa6fa88785a">getByPos</a> (double x, double y, double phi)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reads the contents of a cell. <a href="#a81e844a6348acc0f2d603fa6fa88785a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const T * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#a1ee62281b87024c08748f48868241a20">getByIndex</a> (size_t x, size_t y, size_t phi) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reads the contents of a cell. <a href="#a1ee62281b87024c08748f48868241a20"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">T * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#a17bd7d9e34e4bd202b764139f4a04bbe">getByIndex</a> (size_t x, size_t y, size_t phi)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reads the contents of a cell. <a href="#a17bd7d9e34e4bd202b764139f4a04bbe"></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_pose2_d_grid_template.html#a86df9417f2ed195356b97ee3fd717a5f">getAsMatrix</a> (const double &phi, <a class="el" href="classmrpt_1_1math_1_1_c_matrix_template.html">CMatrixTemplate</a>< T > &outMat)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the whole grid as a matrix, for a given constant "phi" and where each row contains values for a fixed "y". <a href="#a86df9417f2ed195356b97ee3fd717a5f"></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_pose2_d_grid_template.html#ac4201b20113fddbcd6baef19171c539b">getXMin</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get info about the grid: <a href="#ac4201b20113fddbcd6baef19171c539b"></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_pose2_d_grid_template.html#a8a1c658637636a2af060137ae2a4f421">getXMax</a> () const </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_pose2_d_grid_template.html#af4f65b9692bf95ea69662123eea70057">getYMin</a> () const </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_pose2_d_grid_template.html#ab98f9efe1c3f7712437c64a54a64be7c">getYMax</a> () const </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_pose2_d_grid_template.html#a664b9f7d27987d4122115f708cfceed8">getPhiMin</a> () const </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_pose2_d_grid_template.html#a05fb0a449012012da0f5f88ddf65aee7">getPhiMax</a> () const </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_pose2_d_grid_template.html#ace98a995ba773f9d562a1bdfb5f6d2e3">getResolutionXY</a> () const </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_pose2_d_grid_template.html#a049d9e5b520836d3de0d61b203c1a57c">getResolutionPhi</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#a4a1fd0e52d81ec0a04db0d53305df924">getSizeX</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#a517ef3b5bde0f5981e08ec5ab5d6bd6e">getSizeY</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#a9625e627b648fb5fc218055d3a9d6524">getSizePhi</a> () const </td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#a1c7943d0ab77c8ea3f46b86309069aad">is_3D</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#aab2857a4e58866b442e187041d08a556">is_PDF</a> ()</td></tr>
<tr><td colspan="2"><h2><a name="pub-static-attribs"></a>
Static Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">classCObject</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a77a06347b68aa3c08de63c790d88eb12">state_length</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). <a href="#a77a06347b68aa3c08de63c790d88eb12"></a><br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">RTTI stuff</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">classCSerializable</a></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a0b6b801e67bca3d8e0d355e7035f8013">writeToStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &out, int *getVersion) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. <a href="#a0b6b801e67bca3d8e0d355e7035f8013"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a73ba83035a64939cdc3aa1c0dfed23ec">readFromStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, int version)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. <a href="#a73ba83035a64939cdc3aa1c0dfed23ec"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></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_pose2_d_grid_template.html#a4896ef3468d4b04714ff9b829ded9ac6">m_xMin</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The limits and resolution of the grid: <a href="#a4896ef3468d4b04714ff9b829ded9ac6"></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_pose2_d_grid_template.html#a930ffd757709be640cea087525a06468">m_xMax</a></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_pose2_d_grid_template.html#a3a3ae9e57aadb497a9c00ae02f9a28fa">m_yMin</a></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_pose2_d_grid_template.html#af0f2174c8d428359c0332d8131721b3a">m_yMax</a></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_pose2_d_grid_template.html#aa0c8b7556a80d7e0f329267c9f0bb558">m_phiMin</a></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_pose2_d_grid_template.html#a091fa790232b8a4755948fa2d61bfd9d">m_phiMax</a></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_pose2_d_grid_template.html#ae21449db4c3b04f39a5edeea56b15751">m_resolutionXY</a></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_pose2_d_grid_template.html#a33c73fef6c8ad6e5e21f04486bb60df1">m_resolutionPhi</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#aa6733ddd3ae003623e18b3ca20a7c428">m_sizeX</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The size of "m_data" is m_sizeX ·m_sizeY ·m_sizePhi. <a href="#aa6733ddd3ae003623e18b3ca20a7c428"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#acd9288f3bb7737543017140812ae5099">m_sizeY</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#a6be56f4312f7d4316b225680b669f61a">m_sizePhi</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#a3dcc970902c56ae7573713de06ec77da">m_sizeXY</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#a03c8ff3f9f13e25332c476430f9d651d">m_idxLeftX</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The indexes of the "left" borders: <a href="#a03c8ff3f9f13e25332c476430f9d651d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#afbf6f6f49601dce0bd06097dcabb0cb0">m_idxLeftY</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#a8264704a5b8e3756f221aefb44de2530">m_idxLeftPhi</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< T > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#a192dd62ec18240d6aa7caef53741a67e">m_data</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The data: <a href="#a192dd62ec18240d6aa7caef53741a67e"></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_grid_ptr.html">CPosePDFGridPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid.html#ab21686bfd27965053e04d1ab95653c95">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_grid.html#a3e0d167e4d544f7d09c0330620dca83d">_init_CPosePDFGrid</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_grid.html#a3c11f38631d16ae326adc3e224da3239">classCPosePDFGrid</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_grid.html#a2dc9f15fcb124601331362f90e4343c2">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_grid.html#ad4ab99dbf773aac4ad40df74d80e3f5b">_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_grid.html#a244b7c546359f7aaa5bed28dd16a2bce">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="#a244b7c546359f7aaa5bed28dd16a2bce"></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_grid.html#ab2e0aecfd0e0b44f72034ccc3fbb9b31">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="#ab2e0aecfd0e0b44f72034ccc3fbb9b31"></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_grid.html#a731633ac873dc66f4a5f31c90b9b2d9c">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_grid_ptr.html">CPosePDFGridPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid.html#a19eae096038e31cefeb8b2be5c7e2fc3">Create</a> ()</td></tr>
</table>
<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="ab21686bfd27965053e04d1ab95653c95"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::SmartPtr" ref="ab21686bfd27965053e04d1ab95653c95" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">typedef <a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_grid_ptr.html">CPosePDFGridPtr</a> <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid.html#ab21686bfd27965053e04d1ab95653c95">mrpt::poses::CPosePDFGrid::SmartPtr</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>A typedef for the associated smart pointer </p>
<p>Definition at line <a class="el" href="_c_pose_p_d_f_grid_8h_source.html#l00053">53</a> of file <a class="el" href="_c_pose_p_d_f_grid_8h_source.html">CPosePDFGrid.h</a>.</p>
</div>
</div>
<a class="anchor" id="ab4d442c6713a2aaac04cf79bee93c251"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::type_value" ref="ab4d442c6713a2aaac04cf79bee93c251" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<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>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<hr/><h2>Member Enumeration Documentation</h2>
<a class="anchor" id="a78099595e3a530684ad3a13fc4fd7b4d"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::@38" ref="a78099595e3a530684ad3a13fc4fd7b4d" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">anonymous enum<code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</td></tr>
</table>
</dd>
</dl>
<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>
</div>
</div>
<a class="anchor" id="a7cbf144d5c341d584ec473fd1da8c6bc"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::@39" ref="a7cbf144d5c341d584ec473fd1da8c6bc" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">anonymous enum<code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</td></tr>
</table>
</dd>
</dl>
<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>
</div>
</div>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="afd990ba89165dabc7157d0a54d60e19f"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::CPosePDFGrid" ref="afd990ba89165dabc7157d0a54d60e19f" args="(double xMin=-1.0f, double xMax=1.0f, double yMin=-1.0f, double yMax=1.0f, double resolutionXY=0.5f, double resolutionPhi=DEG2RAD(180), double phiMin=-M_PIf, double phiMax=M_PIf)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">mrpt::poses::CPosePDFGrid::CPosePDFGrid </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>xMin</em> = <code>-1.0f</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>xMax</em> = <code>1.0f</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>yMin</em> = <code>-1.0f</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>yMax</em> = <code>1.0f</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>resolutionXY</em> = <code>0.5f</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>resolutionPhi</em> = <code>DEG2RAD(180)</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>phiMin</em> = <code>-M_PIf</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>phiMax</em> = <code>M_PIf</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Constructor: Initializes a, uniform distribution over the whole given range. </p>
</div>
</div>
<a class="anchor" id="a23f5fde088187283c430c22040fc8d91"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::~CPosePDFGrid" ref="a23f5fde088187283c430c22040fc8d91" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual mrpt::poses::CPosePDFGrid::~CPosePDFGrid </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Destructor. </p>
</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ad4ab99dbf773aac4ad40df74d80e3f5b"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::_GetBaseClass" ref="ad4ab99dbf773aac4ad40df74d80e3f5b" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<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::CPosePDFGrid::_GetBaseClass </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static, protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Reimplemented from <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#a513d0c42ed405a89e5276af91ab0b169">mrpt::poses::CPosePDF</a>.</p>
</div>
</div>
<a class="anchor" id="a112077676ecda89e783f61d580c3d10a"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::bayesianFusion" ref="a112077676ecda89e783f61d580c3d10a" args="(const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPosePDFGrid::bayesianFusion </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html">CPosePDF</a> & </td>
<td class="paramname"><em>p1</em>, </td>
</tr>
<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.html">CPosePDF</a> & </td>
<td class="paramname"><em>p2</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const double & </td>
<td class="paramname"><em>minMahalanobisDistToDrop</em> = <code>0</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Bayesian fusion of 2 densities (In the grid representation this becomes a pointwise multiplication) </p>
<p>Implements <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#acb56750e833e1f8a69d7d51eb0d0c4af">mrpt::poses::CPosePDF</a>.</p>
</div>
</div>
<a class="anchor" id="a0f6224ea68902073f214972fbadaccdc"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::changeCoordinatesReference" ref="a0f6224ea68902073f214972fbadaccdc" args="(const CPose3D &newReferenceBase)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPosePDFGrid::changeCoordinatesReference </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"><em>newReferenceBase</em></td><td>)</td>
<td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="a9ef7857a0b36059c078e195a0a65ac00"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::clone" ref="a9ef7857a0b36059c078e195a0a65ac00" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a>* mrpt::utils::CObject::clone </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="af20b5e4d3b9d5b85cc50718bcda2d687"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::copyFrom" ref="af20b5e4d3b9d5b85cc50718bcda2d687" args="(const CPosePDF &o)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPosePDFGrid::copyFrom </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> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="a19eae096038e31cefeb8b2be5c7e2fc3"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::Create" ref="a19eae096038e31cefeb8b2be5c7e2fc3" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static <a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_grid_ptr.html">CPosePDFGridPtr</a> mrpt::poses::CPosePDFGrid::Create </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a731633ac873dc66f4a5f31c90b9b2d9c"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::CreateObject" ref="a731633ac873dc66f4a5f31c90b9b2d9c" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::poses::CPosePDFGrid::CreateObject </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a34a0f0f653d0520e4cca78e222fd8cfc"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::drawManySamples" ref="a34a0f0f653d0520e4cca78e222fd8cfc" args="(size_t N, std::vector< vector_double > &outSamples) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPosePDFGrid::drawManySamples </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>N</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> > & </td>
<td class="paramname"><em>outSamples</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="af98f3e9c54d3f7d5a108b27997ca6c3b"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::drawSingleSample" ref="af98f3e9c54d3f7d5a108b27997ca6c3b" args="(CPose2D &outPart) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPosePDFGrid::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>
</tr>
</table>
</div>
<div class="memdoc">
<p>Draws a single sample from the distribution (WARNING: weights are assumed to be normalized!) </p>
</div>
</div>
<a class="anchor" id="ae8879d10e9d7a6c94211dd0ffffc4c9d"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::drawSingleSample" ref="ae8879d10e9d7a6c94211dd0ffffc4c9d" args="(TDATA &outPart) const =0" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::drawSingleSample </td>
<td>(</td>
<td class="paramtype">TDATA & </td>
<td class="paramname"><em>outPart</em></td><td>)</td>
<td> const<code> [pure virtual, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Draws a single sample from the distribution. </p>
</div>
</div>
<a class="anchor" id="ab2e0aecfd0e0b44f72034ccc3fbb9b31"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::duplicate" ref="ab2e0aecfd0e0b44f72034ccc3fbb9b31" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::poses::CPosePDFGrid::duplicate </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="a534695890364f4b916bba07dad311bcf"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::duplicateGetSmartPtr" ref="a534695890364f4b916bba07dad311bcf" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> mrpt::utils::CObject::duplicateGetSmartPtr </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="a4ee11d8684292cf3d291d576b4fbce83"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getAs3DObject" ref="a4ee11d8684292cf3d291d576b4fbce83" args="(OPENGL_SETOFOBJECTSPTR &out_obj) const " -->
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template<class OPENGL_SETOFOBJECTSPTR > </div>
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPosePDF::getAs3DObject </td>
<td>(</td>
<td class="paramtype">OPENGL_SETOFOBJECTSPTR & </td>
<td class="paramname"><em>out_obj</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="a90795d49f8ebed4351523caea57e9030"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getAs3DObject" ref="a90795d49f8ebed4351523caea57e9030" args="() const " -->
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template<class OPENGL_SETOFOBJECTSPTR > </div>
<table class="memname">
<tr>
<td class="memname">OPENGL_SETOFOBJECTSPTR mrpt::poses::CPosePDF::getAs3DObject </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="a86df9417f2ed195356b97ee3fd717a5f"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getAsMatrix" ref="a86df9417f2ed195356b97ee3fd717a5f" args="(const double &phi, CMatrixTemplate< T > &outMat)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPose2DGridTemplate::getAsMatrix </td>
<td>(</td>
<td class="paramtype">const double & </td>
<td class="paramname"><em>phi</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_template.html">CMatrixTemplate</a>< T > & </td>
<td class="paramname"><em>outMat</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns the whole grid as a matrix, for a given constant "phi" and where each row contains values for a fixed "y". </p>
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00223">223</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00370">MRPT_START</a>, <a class="el" href="_c_matrix_template_8h_source.html#l00262">mrpt::math::CMatrixTemplate::setSize()</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">mrpt::poses::CPose2DGridTemplate::m_sizeY</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">mrpt::poses::CPose2DGridTemplate::m_sizeX</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00087">mrpt::poses::CPose2DGridTemplate::phi2idx()</a>, <a class="el" href="mrpt__macros_8h_source.html#l00282">ASSERT_</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">mrpt::poses::CPose2DGridTemplate::m_sizePhi</a>, <a class="el" href="_core_source.html#l00604">Eigen::internal::y</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00064">mrpt::poses::CPose2DGridTemplate::m_data</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">mrpt::poses::CPose2DGridTemplate::m_sizeXY</a>, and <a class="el" href="mrpt__macros_8h_source.html#l00374">MRPT_END</a>.</p>
</div>
</div>
<a class="anchor" id="a1ee62281b87024c08748f48868241a20"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getByIndex" ref="a1ee62281b87024c08748f48868241a20" args="(size_t x, size_t y, size_t phi) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">const T* mrpt::poses::CPose2DGridTemplate::getByIndex </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>phi</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Reads the contents of a cell. </p>
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00203">203</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00282">ASSERT_</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">mrpt::poses::CPose2DGridTemplate::m_sizeX</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">mrpt::poses::CPose2DGridTemplate::m_sizeY</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">mrpt::poses::CPose2DGridTemplate::m_sizePhi</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00064">mrpt::poses::CPose2DGridTemplate::m_data</a>, and <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">mrpt::poses::CPose2DGridTemplate::m_sizeXY</a>.</p>
</div>
</div>
<a class="anchor" id="a17bd7d9e34e4bd202b764139f4a04bbe"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getByIndex" ref="a17bd7d9e34e4bd202b764139f4a04bbe" args="(size_t x, size_t y, size_t phi)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">T* mrpt::poses::CPose2DGridTemplate::getByIndex </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>phi</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Reads the contents of a cell. </p>
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00213">213</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00282">ASSERT_</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">mrpt::poses::CPose2DGridTemplate::m_sizeX</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">mrpt::poses::CPose2DGridTemplate::m_sizeY</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">mrpt::poses::CPose2DGridTemplate::m_sizePhi</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00064">mrpt::poses::CPose2DGridTemplate::m_data</a>, and <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">mrpt::poses::CPose2DGridTemplate::m_sizeXY</a>.</p>
</div>
</div>
<a class="anchor" id="a188bde8c0751e267f8b1f3022a620963"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getByPos" ref="a188bde8c0751e267f8b1f3022a620963" args="(double x, double y, double phi) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">const T* mrpt::poses::CPose2DGridTemplate::getByPos </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>phi</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Reads the contents of a cell. </p>
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00189">189</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
<p>References <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00203">mrpt::poses::CPose2DGridTemplate::getByIndex()</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00069">mrpt::poses::CPose2DGridTemplate::x2idx()</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00078">mrpt::poses::CPose2DGridTemplate::y2idx()</a>, and <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00087">mrpt::poses::CPose2DGridTemplate::phi2idx()</a>.</p>
</div>
</div>
<a class="anchor" id="a81e844a6348acc0f2d603fa6fa88785a"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getByPos" ref="a81e844a6348acc0f2d603fa6fa88785a" args="(double x, double y, double phi)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">T* mrpt::poses::CPose2DGridTemplate::getByPos </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>phi</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Reads the contents of a cell. </p>
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00196">196</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
<p>References <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00203">mrpt::poses::CPose2DGridTemplate::getByIndex()</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00069">mrpt::poses::CPose2DGridTemplate::x2idx()</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00078">mrpt::poses::CPose2DGridTemplate::y2idx()</a>, and <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00087">mrpt::poses::CPose2DGridTemplate::phi2idx()</a>.</p>
</div>
</div>
<a class="anchor" id="a76a1c94c45614ec2ab8f4b209d126745"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getCovariance" ref="a76a1c94c45614ec2ab8f4b209d126745" args="(CMatrixDouble &cov) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::utils::CProbabilityDensityFunction::getCovariance </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> & </td>
<td class="paramname"><em>cov</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="a9ac7187b742c121c3338cb767b7994ba"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getCovariance" ref="a9ac7187b742c121c3338cb767b7994ba" args="(CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::utils::CProbabilityDensityFunction::getCovariance </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, STATE_LEN, STATE_LEN > & </td>
<td class="paramname"><em>cov</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="a689312caf79ee5268fa913e3fa5c82c0"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getCovariance" ref="a689312caf79ee5268fa913e3fa5c82c0" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<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>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="aef4a7a5d215e4c7e855286ad4a4d1bbe"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getCovarianceAndMean" ref="aef4a7a5d215e4c7e855286ad4a4d1bbe" args="(CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, TDATA &mean_point) const =0" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::getCovarianceAndMean </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, STATE_LEN, STATE_LEN > & </td>
<td class="paramname"><em>cov</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">TDATA & </td>
<td class="paramname"><em>mean_point</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [pure virtual, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="aab0f89a85d187846b96c64cb8385300b"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getCovarianceAndMean" ref="aab0f89a85d187846b96c64cb8385300b" args="(CMatrixDouble33 &cov, CPose2D &mean_point) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPosePDFGrid::getCovarianceAndMean </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> & </td>
<td class="paramname"><em>cov</em>, </td>
</tr>
<tr>
<td class="paramkey"></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>mean_point</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<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_grid.html#af70c66cae63bfe66ea5f8b49304b4c0b" title="Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).">getMean</a> </dd></dl>
</div>
</div>
<a class="anchor" id="a8a5db2a590d8fcd23408a3d8a8a1f76c"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getCovarianceDynAndMean" ref="a8a5db2a590d8fcd23408a3d8a8a1f76c" args="(CMatrixDouble &cov, TDATA &mean_point) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::utils::CProbabilityDensityFunction::getCovarianceDynAndMean </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> & </td>
<td class="paramname"><em>cov</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">TDATA & </td>
<td class="paramname"><em>mean_point</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="a311648912f182acf9fc0896208492216"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getCovarianceEntropy" ref="a311648912f182acf9fc0896208492216" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double mrpt::utils::CProbabilityDensityFunction::getCovarianceEntropy </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="afc168fcbcba4191a0e64fc2a3b7c4c78"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getMean" ref="afc168fcbcba4191a0e64fc2a3b7c4c78" args="(TDATA &mean_point) const =0" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::getMean </td>
<td>(</td>
<td class="paramtype">TDATA & </td>
<td class="paramname"><em>mean_point</em></td><td>)</td>
<td> const<code> [pure virtual, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="af70c66cae63bfe66ea5f8b49304b4c0b"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getMean" ref="af70c66cae63bfe66ea5f8b49304b4c0b" args="(CPose2D &mean_pose) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPosePDFGrid::getMean </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>mean_pose</em></td><td>)</td>
<td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="ad6c0c9844ac63db9c793652e4619c549"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getMeanVal" ref="ad6c0c9844ac63db9c793652e4619c549" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">TDATA mrpt::utils::CProbabilityDensityFunction::getMeanVal </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="a05fb0a449012012da0f5f88ddf65aee7"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getPhiMax" ref="a05fb0a449012012da0f5f88ddf65aee7" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double mrpt::poses::CPose2DGridTemplate::getPhiMax </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00242">242</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
<p>References <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_phiMax</a>.</p>
</div>
</div>
<a class="anchor" id="a664b9f7d27987d4122115f708cfceed8"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getPhiMin" ref="a664b9f7d27987d4122115f708cfceed8" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double mrpt::poses::CPose2DGridTemplate::getPhiMin </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00241">241</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
<p>References <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_phiMin</a>.</p>
</div>
</div>
<a class="anchor" id="a049d9e5b520836d3de0d61b203c1a57c"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getResolutionPhi" ref="a049d9e5b520836d3de0d61b203c1a57c" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double mrpt::poses::CPose2DGridTemplate::getResolutionPhi </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00244">244</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
<p>References <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_resolutionPhi</a>.</p>
</div>
</div>
<a class="anchor" id="ace98a995ba773f9d562a1bdfb5f6d2e3"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getResolutionXY" ref="ace98a995ba773f9d562a1bdfb5f6d2e3" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double mrpt::poses::CPose2DGridTemplate::getResolutionXY </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00243">243</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
<p>References <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_resolutionXY</a>.</p>
</div>
</div>
<a class="anchor" id="a244b7c546359f7aaa5bed28dd16a2bce"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::GetRuntimeClass" ref="a244b7c546359f7aaa5bed28dd16a2bce" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<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::CPosePDFGrid::GetRuntimeClass </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="a9625e627b648fb5fc218055d3a9d6524"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getSizePhi" ref="a9625e627b648fb5fc218055d3a9d6524" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">size_t mrpt::poses::CPose2DGridTemplate::getSizePhi </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00247">247</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
<p>References <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">mrpt::poses::CPose2DGridTemplate::m_sizePhi</a>.</p>
</div>
</div>
<a class="anchor" id="a4a1fd0e52d81ec0a04db0d53305df924"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getSizeX" ref="a4a1fd0e52d81ec0a04db0d53305df924" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">size_t mrpt::poses::CPose2DGridTemplate::getSizeX </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00245">245</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
<p>References <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">mrpt::poses::CPose2DGridTemplate::m_sizeX</a>.</p>
</div>
</div>
<a class="anchor" id="a517ef3b5bde0f5981e08ec5ab5d6bd6e"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getSizeY" ref="a517ef3b5bde0f5981e08ec5ab5d6bd6e" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">size_t mrpt::poses::CPose2DGridTemplate::getSizeY </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00246">246</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
<p>References <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">mrpt::poses::CPose2DGridTemplate::m_sizeY</a>.</p>
</div>
</div>
<a class="anchor" id="a8a1c658637636a2af060137ae2a4f421"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getXMax" ref="a8a1c658637636a2af060137ae2a4f421" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double mrpt::poses::CPose2DGridTemplate::getXMax </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00238">238</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
<p>References <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_xMax</a>.</p>
</div>
</div>
<a class="anchor" id="ac4201b20113fddbcd6baef19171c539b"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getXMin" ref="ac4201b20113fddbcd6baef19171c539b" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double mrpt::poses::CPose2DGridTemplate::getXMin </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Get info about the grid: </p>
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00237">237</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
<p>References <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_xMin</a>.</p>
</div>
</div>
<a class="anchor" id="ab98f9efe1c3f7712437c64a54a64be7c"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getYMax" ref="ab98f9efe1c3f7712437c64a54a64be7c" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double mrpt::poses::CPose2DGridTemplate::getYMax </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00240">240</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
<p>References <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_yMax</a>.</p>
</div>
</div>
<a class="anchor" id="af4f65b9692bf95ea69662123eea70057"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::getYMin" ref="af4f65b9692bf95ea69662123eea70057" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double mrpt::poses::CPose2DGridTemplate::getYMin </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00239">239</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
<p>References <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_yMin</a>.</p>
</div>
</div>
<a class="anchor" id="ad3cc377f5ac063f3d9c5cc01b99dc824"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::idx2phi" ref="ad3cc377f5ac063f3d9c5cc01b99dc824" args="(size_t phi) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double mrpt::poses::CPose2DGridTemplate::idx2phi </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>phi</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns coordinates from "indexes": </p>
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00112">112</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00282">ASSERT_</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">mrpt::poses::CPose2DGridTemplate::m_sizePhi</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_phiMin</a>, and <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_resolutionPhi</a>.</p>
</div>
</div>
<a class="anchor" id="ab37a17dfde07391570b23f94e2af0251"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::idx2x" ref="ab37a17dfde07391570b23f94e2af0251" args="(size_t x) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double mrpt::poses::CPose2DGridTemplate::idx2x </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>x</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns coordinates from "indexes": </p>
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00096">96</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00282">ASSERT_</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">mrpt::poses::CPose2DGridTemplate::m_sizeX</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_xMin</a>, and <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_resolutionXY</a>.</p>
</div>
</div>
<a class="anchor" id="a34f0fe36145e221c0da3b3413181216a"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::idx2y" ref="a34f0fe36145e221c0da3b3413181216a" args="(size_t y) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double mrpt::poses::CPose2DGridTemplate::idx2y </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>y</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns coordinates from "indexes": </p>
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00104">104</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00282">ASSERT_</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">mrpt::poses::CPose2DGridTemplate::m_sizeY</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_yMin</a>, and <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_resolutionXY</a>.</p>
</div>
</div>
<a class="anchor" id="a5dcfbdd40948b6bae1ef6b3159aabbfb"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::inverse" ref="a5dcfbdd40948b6bae1ef6b3159aabbfb" args="(CPosePDF &o) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPosePDFGrid::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>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="a1c7943d0ab77c8ea3f46b86309069aad"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::is_3D" ref="a1c7943d0ab77c8ea3f46b86309069aad" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static bool mrpt::poses::CPosePDF::is_3D </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, static, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="aab2857a4e58866b442e187041d08a556"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::is_PDF" ref="aab2857a4e58866b442e187041d08a556" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<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>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="a35ec04c16c281932b436852cb34f2b95"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::normalize" ref="a35ec04c16c281932b436852cb34f2b95" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPosePDFGrid::normalize </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Normalizes the PDF, such as all cells sum the unity. </p>
</div>
</div>
<a class="anchor" id="adc6a7f7269cd1f28cb78d6a995f48095"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::phi2idx" ref="adc6a7f7269cd1f28cb78d6a995f48095" args="(double phi) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">size_t mrpt::poses::CPose2DGridTemplate::phi2idx </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>phi</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns "indexes" from coordinates: </p>
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00087">87</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
<p>References <a class="el" href="bits_8h_source.html#l00113">mrpt::utils::round()</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_phiMin</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_resolutionPhi</a>, <a class="el" href="mrpt__macros_8h_source.html#l00282">ASSERT_</a>, and <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">mrpt::poses::CPose2DGridTemplate::m_sizePhi</a>.</p>
</div>
</div>
<a class="anchor" id="a73ba83035a64939cdc3aa1c0dfed23ec"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::readFromStream" ref="a73ba83035a64939cdc3aa1c0dfed23ec" args="(mrpt::utils::CStream &in, int version)=0" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<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>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>version</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [protected, pure virtual, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">in</td><td>The input binary stream where the object data must read from. </td></tr>
<tr><td class="paramname">version</td><td>The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d" title="Reads a block of bytes from the stream into Buffer On any error, or if ZERO bytes are read...">CStream::ReadBuffer</a> </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a0194e57ec48c1dfc6aa00c23d3409143">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a12db95e8c32d48d2d2483936dec516a7">mrpt::math::CMatrix</a>.</p>
</div>
</div>
<a class="anchor" id="ad1d062f97efcac0b604a85edf84cbf27"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::saveToTextFile" ref="ad1d062f97efcac0b604a85edf84cbf27" args="(const std::string &dataFile) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPosePDFGrid::saveToTextFile </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>dataFile</em></td><td>)</td>
<td> const<code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Save the contents of the 3D grid in one file, as a vertical concatenation of rectangular matrix for the different "PHI" discrete levels, and the size in X,Y,and PHI in another file named "<filename>_dims.txt". </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>
</div>
</div>
<a class="anchor" id="af27a0eb13f8096ba3aaf0e09a150f12e"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::setSize" ref="af27a0eb13f8096ba3aaf0e09a150f12e" args="(double xMin, double xMax, double yMin, double yMax, double resolutionXY, double resolutionPhi, double phiMin=-M_PIf, double phiMax=M_PIf)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPose2DGridTemplate::setSize </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>xMin</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>xMax</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>yMin</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>yMax</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>resolutionXY</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>resolutionPhi</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>phiMin</em> = <code>-M_PIf</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>phiMax</em> = <code>M_PIf</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Changes the limits and size of the grid, erasing previous contents: </p>
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00146">146</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00282">ASSERT_</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_xMin</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_xMax</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_yMin</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_yMax</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_phiMin</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_phiMax</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_resolutionXY</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_resolutionPhi</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00060">mrpt::poses::CPose2DGridTemplate::m_idxLeftX</a>, <a class="el" href="bits_8h_source.html#l00113">mrpt::utils::round()</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00060">mrpt::poses::CPose2DGridTemplate::m_idxLeftY</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00060">mrpt::poses::CPose2DGridTemplate::m_idxLeftPhi</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">mrpt::poses::CPose2DGridTemplate::m_sizeX</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">mrpt::poses::CPose2DGridTemplate::m_sizeY</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">mrpt::poses::CPose2DGridTemplate::m_sizePhi</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">mrpt::poses::CPose2DGridTemplate::m_sizeXY</a>, and <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00064">mrpt::poses::CPose2DGridTemplate::m_data</a>.</p>
</div>
</div>
<a class="anchor" id="afd6822a6d8d3f9f6b2cb8ba8bb30c88a"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::uniformDistribution" ref="afd6822a6d8d3f9f6b2cb8ba8bb30c88a" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::poses::CPosePDFGrid::uniformDistribution </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Assigns the same value to all the cells in the grid, so the sum 1. </p>
</div>
</div>
<a class="anchor" id="a0b6b801e67bca3d8e0d355e7035f8013"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::writeToStream" ref="a0b6b801e67bca3d8e0d355e7035f8013" args="(mrpt::utils::CStream &out, int *getVersion) const =0" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<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>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int * </td>
<td class="paramname"><em>getVersion</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [protected, pure virtual, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. </p>
<p>This can not be used directly be users, instead use "stream << object;" for writing it to a stream. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out</td><td>The output binary stream where object must be dumped. </td></tr>
<tr><td class="paramname">getVersion</td><td>If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a276005e7110c9de74ff3277b3f7bf621" title="Writes a block of bytes to the stream from Buffer.">CStream::WriteBuffer</a> </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a767e787b52208ab4dd46ba7f5e2fd224">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a059d7eaf80dab9c7435154146d2b7dbf">mrpt::math::CMatrix</a>.</p>
</div>
</div>
<a class="anchor" id="a74dc6fc9edb1afac78871cdc2da7e781"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::x2idx" ref="a74dc6fc9edb1afac78871cdc2da7e781" args="(double x) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">size_t mrpt::poses::CPose2DGridTemplate::x2idx </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>x</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns "indexes" from coordinates: </p>
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00069">69</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
<p>References <a class="el" href="bits_8h_source.html#l00113">mrpt::utils::round()</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_xMin</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_resolutionXY</a>, <a class="el" href="mrpt__macros_8h_source.html#l00282">ASSERT_</a>, and <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">mrpt::poses::CPose2DGridTemplate::m_sizeX</a>.</p>
</div>
</div>
<a class="anchor" id="afa6b2740b6fed388ef27e84bb6d060f6"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::y2idx" ref="afa6b2740b6fed388ef27e84bb6d060f6" args="(double y) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">size_t mrpt::poses::CPose2DGridTemplate::y2idx </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>y</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Returns "indexes" from coordinates: </p>
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00078">78</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
<p>References <a class="el" href="bits_8h_source.html#l00113">mrpt::utils::round()</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_yMin</a>, <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">mrpt::poses::CPose2DGridTemplate::m_resolutionXY</a>, <a class="el" href="mrpt__macros_8h_source.html#l00282">ASSERT_</a>, and <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">mrpt::poses::CPose2DGridTemplate::m_sizeY</a>.</p>
</div>
</div>
<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="a6fec28a53e20dfc1c4d046c26f9f7b48"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::mrpt::utils::CStream" ref="a6fec28a53e20dfc1c4d046c26f9f7b48" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<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>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a3e0d167e4d544f7d09c0330620dca83d"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::_init_CPosePDFGrid" ref="a3e0d167e4d544f7d09c0330620dca83d" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<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_grid.html#a3e0d167e4d544f7d09c0330620dca83d">mrpt::poses::CPosePDFGrid::_init_CPosePDFGrid</a><code> [static, protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose_p_d_f_grid_8h_source.html#l00053">53</a> of file <a class="el" href="_c_pose_p_d_f_grid_8h_source.html">CPosePDFGrid.h</a>.</p>
</div>
</div>
<a class="anchor" id="acb51e4dd811d62c2696aee449d0a4715"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::classCObject" ref="acb51e4dd811d62c2696aee449d0a4715" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<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>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="aa0b97f5a0bb0d56326a23f5d8e515ae7"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::classCPosePDF" ref="aa0b97f5a0bb0d56326a23f5d8e515ae7" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<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>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="a3c11f38631d16ae326adc3e224da3239"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::classCPosePDFGrid" ref="a3c11f38631d16ae326adc3e224da3239" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<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_grid.html#a3c11f38631d16ae326adc3e224da3239">mrpt::poses::CPosePDFGrid::classCPosePDFGrid</a><code> [static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose_p_d_f_grid_8h_source.html#l00053">53</a> of file <a class="el" href="_c_pose_p_d_f_grid_8h_source.html">CPosePDFGrid.h</a>.</p>
</div>
</div>
<a class="anchor" id="a28ec2a03d277a8469b8ecfc81892afdf"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::classCSerializable" ref="a28ec2a03d277a8469b8ecfc81892afdf" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<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>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="a2dc9f15fcb124601331362f90e4343c2"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::classinfo" ref="a2dc9f15fcb124601331362f90e4343c2" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<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_grid.html#a2dc9f15fcb124601331362f90e4343c2">mrpt::poses::CPosePDFGrid::classinfo</a><code> [static]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose_p_d_f_grid_8h_source.html#l00053">53</a> of file <a class="el" href="_c_pose_p_d_f_grid_8h_source.html">CPosePDFGrid.h</a>.</p>
</div>
</div>
<a class="anchor" id="a192dd62ec18240d6aa7caef53741a67e"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::m_data" ref="a192dd62ec18240d6aa7caef53741a67e" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><T> <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#a192dd62ec18240d6aa7caef53741a67e">mrpt::poses::CPose2DGridTemplate::m_data</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The data: </p>
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00064">64</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
</div>
</div>
<a class="anchor" id="a8264704a5b8e3756f221aefb44de2530"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::m_idxLeftPhi" ref="a8264704a5b8e3756f221aefb44de2530" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">int <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#a8264704a5b8e3756f221aefb44de2530">mrpt::poses::CPose2DGridTemplate::m_idxLeftPhi</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00060">60</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
</div>
</div>
<a class="anchor" id="a03c8ff3f9f13e25332c476430f9d651d"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::m_idxLeftX" ref="a03c8ff3f9f13e25332c476430f9d651d" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">int <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#a03c8ff3f9f13e25332c476430f9d651d">mrpt::poses::CPose2DGridTemplate::m_idxLeftX</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The indexes of the "left" borders: </p>
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00060">60</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
</div>
</div>
<a class="anchor" id="afbf6f6f49601dce0bd06097dcabb0cb0"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::m_idxLeftY" ref="afbf6f6f49601dce0bd06097dcabb0cb0" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">int <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#afbf6f6f49601dce0bd06097dcabb0cb0">mrpt::poses::CPose2DGridTemplate::m_idxLeftY</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00060">60</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
</div>
</div>
<a class="anchor" id="a091fa790232b8a4755948fa2d61bfd9d"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::m_phiMax" ref="a091fa790232b8a4755948fa2d61bfd9d" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#a091fa790232b8a4755948fa2d61bfd9d">mrpt::poses::CPose2DGridTemplate::m_phiMax</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">49</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
</div>
</div>
<a class="anchor" id="aa0c8b7556a80d7e0f329267c9f0bb558"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::m_phiMin" ref="aa0c8b7556a80d7e0f329267c9f0bb558" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#aa0c8b7556a80d7e0f329267c9f0bb558">mrpt::poses::CPose2DGridTemplate::m_phiMin</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">49</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
</div>
</div>
<a class="anchor" id="a33c73fef6c8ad6e5e21f04486bb60df1"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::m_resolutionPhi" ref="a33c73fef6c8ad6e5e21f04486bb60df1" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#a33c73fef6c8ad6e5e21f04486bb60df1">mrpt::poses::CPose2DGridTemplate::m_resolutionPhi</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">49</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
</div>
</div>
<a class="anchor" id="ae21449db4c3b04f39a5edeea56b15751"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::m_resolutionXY" ref="ae21449db4c3b04f39a5edeea56b15751" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#ae21449db4c3b04f39a5edeea56b15751">mrpt::poses::CPose2DGridTemplate::m_resolutionXY</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">49</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
</div>
</div>
<a class="anchor" id="a6be56f4312f7d4316b225680b669f61a"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::m_sizePhi" ref="a6be56f4312f7d4316b225680b669f61a" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">size_t <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#a6be56f4312f7d4316b225680b669f61a">mrpt::poses::CPose2DGridTemplate::m_sizePhi</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">56</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
</div>
</div>
<a class="anchor" id="aa6733ddd3ae003623e18b3ca20a7c428"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::m_sizeX" ref="aa6733ddd3ae003623e18b3ca20a7c428" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">size_t <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#aa6733ddd3ae003623e18b3ca20a7c428">mrpt::poses::CPose2DGridTemplate::m_sizeX</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The size of "m_data" is m_sizeX ·m_sizeY ·m_sizePhi. </p>
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">56</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
</div>
</div>
<a class="anchor" id="a3dcc970902c56ae7573713de06ec77da"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::m_sizeXY" ref="a3dcc970902c56ae7573713de06ec77da" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">size_t <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#a3dcc970902c56ae7573713de06ec77da">mrpt::poses::CPose2DGridTemplate::m_sizeXY</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">56</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
</div>
</div>
<a class="anchor" id="acd9288f3bb7737543017140812ae5099"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::m_sizeY" ref="acd9288f3bb7737543017140812ae5099" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">size_t <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#acd9288f3bb7737543017140812ae5099">mrpt::poses::CPose2DGridTemplate::m_sizeY</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00056">56</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
</div>
</div>
<a class="anchor" id="a930ffd757709be640cea087525a06468"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::m_xMax" ref="a930ffd757709be640cea087525a06468" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#a930ffd757709be640cea087525a06468">mrpt::poses::CPose2DGridTemplate::m_xMax</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">49</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
</div>
</div>
<a class="anchor" id="a4896ef3468d4b04714ff9b829ded9ac6"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::m_xMin" ref="a4896ef3468d4b04714ff9b829ded9ac6" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#a4896ef3468d4b04714ff9b829ded9ac6">mrpt::poses::CPose2DGridTemplate::m_xMin</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The limits and resolution of the grid: </p>
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">49</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
</div>
</div>
<a class="anchor" id="af0f2174c8d428359c0332d8131721b3a"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::m_yMax" ref="af0f2174c8d428359c0332d8131721b3a" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#af0f2174c8d428359c0332d8131721b3a">mrpt::poses::CPose2DGridTemplate::m_yMax</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">49</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
</div>
</div>
<a class="anchor" id="a3a3ae9e57aadb497a9c00ae02f9a28fa"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::m_yMin" ref="a3a3ae9e57aadb497a9c00ae02f9a28fa" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d_grid_template.html#a3a3ae9e57aadb497a9c00ae02f9a28fa">mrpt::poses::CPose2DGridTemplate::m_yMin</a><code> [protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Definition at line <a class="el" href="_c_pose2_d_grid_template_8h_source.html#l00049">49</a> of file <a class="el" href="_c_pose2_d_grid_template_8h_source.html">CPose2DGridTemplate.h</a>.</p>
</div>
</div>
<a class="anchor" id="a77a06347b68aa3c08de63c790d88eb12"></a><!-- doxytag: member="mrpt::poses::CPosePDFGrid::state_length" ref="a77a06347b68aa3c08de63c790d88eb12" args="" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<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>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
</div>
<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>
