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<li class="navelem"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html">CPosePDFSOG</a> </li>
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<div class="title">mrpt::poses::CPosePDFSOG Class Reference<div class="ingroups"><a class="el" href="group__poses__pdf__grp.html">2D/3D point and pose PDFs</a></div></div> </div>
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<!-- doxytag: class="mrpt::poses::CPosePDFSOG" --><!-- doxytag: inherits="mrpt::poses::CPosePDF" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Declares a class that represents a Probability Density function (PDF) of a 2D pose <img class="formulaInl" alt="$ p(\mathbf{x}) = [x ~ y ~ \phi ]^t $" src="form_71.png"/>. </p>
<p>This class implements that PDF as the following multi-modal Gaussian distribution:</p>
<p><img class="formulaInl" alt="$ p(\mathbf{x}) = \sum\limits_{i=1}^N \omega^i \mathcal{N}( \mathbf{x} ; \bar{\mathbf{x}}^i, \mathbf{\Sigma}^i ) $" src="form_50.png"/></p>
<p>Where the number of modes N is the size of <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#ae6a96a532ab1b9c12fa57b468cead67d" title="The list of SOG modes.">CPosePDFSOG::m_modes</a></p>
<p>See <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...">mrpt::poses::CPosePDF</a> for more details.</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html" title="Declares a class that represents a probability density function (pdf) of a 2D pose (x...">CPosePDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_particles.html" title="Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x...">CPosePDFParticles</a> </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html">mrpt/poses/CPosePDFSOG.h</a>></code></p>
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Inheritance diagram for mrpt::poses::CPosePDFSOG:</div>
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<div class="center"><img src="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g__inherit__graph.png" border="0" usemap="#mrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_inherit__map" id="mrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html" title="Declares a class that represents a probability density function (pdf) of a 2D pose (x..." alt="" coords="175,173,341,200"/><area shape="rect" id="node4" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT..." alt="" coords="4,96,168,123"/><area shape="rect" id="node6" href="classmrpt_1_1utils_1_1_c_object.html" title="The virtual base class of all MRPT classes with a unified RTTI system." alt="" coords="19,5,153,32"/><area shape="rect" id="node8" href="classmrpt_1_1utils_1_1_c_probability_density_function.html" title="mrpt::utils::CProbabilityDensityFunction\< CPose2D, 3 \>" alt="" coords="194,96,544,123"/><area shape="rect" id="node10" href="classmrpt_1_1utils_1_1_c_probability_density_function.html" title="A generic template for probability density distributions (PDFs)." alt="" coords="242,5,496,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html">TGaussianMode</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The struct for each mode: <a href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <br class="typebreak"/>
<a class="el" href="structmrpt_1_1aligned__containers.html">mrpt::aligned_containers</a><br class="typebreak"/>
< <a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html">TGaussianMode</a> >::vector_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a4451912a447eaaf0fec364a69059eb85">CListGaussianModes</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <br class="typebreak"/>
<a class="el" href="classstd_1_1vector_1_1const__iterator.html">CListGaussianModes::const_iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#aa5a75cf3820510c2db0cd2596e846396">const_iterator</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <br class="typebreak"/>
<a class="el" href="classstd_1_1vector_1_1iterator.html">CListGaussianModes::iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a710e849d096fe29c5cc88f7a5be39a07">iterator</a></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_s_o_g.html#af16c53019e95b4765aad65535aab42a0">CPosePDFSOG</a> (size_t nModes=1)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor. <a href="#af16c53019e95b4765aad65535aab42a0"></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_pose_p_d_f_s_o_g.html#a69128101c719fe54f0bb33a42e82f46f">size</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return the number of Gaussian modes. <a href="#a69128101c719fe54f0bb33a42e82f46f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#ad675bae2f5825a0f788d61168480ad7b">empty</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return whether there is any Gaussian mode. <a href="#ad675bae2f5825a0f788d61168480ad7b"></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_s_o_g.html#a974b5cfb68779321bd2a7be10b96f405">clear</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Clear the list of modes. <a href="#a974b5cfb68779321bd2a7be10b96f405"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html">TGaussianMode</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#aba2e44deaf2a67c1a6f32a44a6be4af1">operator[]</a> (size_t i) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Access to individual beacons. <a href="#aba2e44deaf2a67c1a6f32a44a6be4af1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html">TGaussianMode</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a75ab5830185c1f0fa8e999403d74d843">operator[]</a> (size_t i)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Access to individual beacons. <a href="#a75ab5830185c1f0fa8e999403d74d843"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html">TGaussianMode</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#ac8724e3545577a6becbd6e35cacfdbbb">get</a> (size_t i) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Access to individual beacons. <a href="#ac8724e3545577a6becbd6e35cacfdbbb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html">TGaussianMode</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a7f9d48bdf47a32e5256d5ae1072a1c33">get</a> (size_t i)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Access to individual beacons. <a href="#a7f9d48bdf47a32e5256d5ae1072a1c33"></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_s_o_g.html#ad4aa3968987a7f5f487f072cd6ecdcbd">push_back</a> (const <a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html">TGaussianMode</a> &m)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Inserts a copy of the given mode into the SOG. <a href="#ad4aa3968987a7f5f487f072cd6ecdcbd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a710e849d096fe29c5cc88f7a5be39a07">iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a0ee926714e57a27b66c9ed14cf01991e">begin</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a710e849d096fe29c5cc88f7a5be39a07">iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a2fc732b74248fa20deab875ea91fc261">end</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#aa5a75cf3820510c2db0cd2596e846396">const_iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a49c5ca4d606792d5dc50be5fd60842af">begin</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#aa5a75cf3820510c2db0cd2596e846396">const_iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#aa62ff5da8ff954abcf78e405ed204b34">end</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a710e849d096fe29c5cc88f7a5be39a07">iterator</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a42d5997caa210d1f6569d117c56e12e3">erase</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a710e849d096fe29c5cc88f7a5be39a07">iterator</a> i)</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_s_o_g.html#a16fb487dcced898b03f3187c938fa4e4">resize</a> (const size_t N)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Resize the number of SOG modes. <a href="#a16fb487dcced898b03f3187c938fa4e4"></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_s_o_g.html#a6b6a41a954f3636e569215352c28b308">mergeModes</a> (double max_KLd=0.5, bool verbose=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Merge very close modes so the overall number of modes is reduced while preserving the total distribution. <a href="#a6b6a41a954f3636e569215352c28b308"></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_s_o_g.html#a87dd71faf5ded1d4e4332b784fc74ead">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="#a87dd71faf5ded1d4e4332b784fc74ead"></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_s_o_g.html#abc7e0b966bdc5b30e15af46bdfdd0480">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="#abc7e0b966bdc5b30e15af46bdfdd0480"></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_s_o_g.html#ae1fe9766d5a230bb87b57e3633a8037c">getMostLikelyCovarianceAndMean</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">For the most likely Gaussian mode in the SOG, returns the pose covariance matrix (3x3 cov matrix) and the mean. <a href="#ae1fe9766d5a230bb87b57e3633a8037c"></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_s_o_g.html#a57968f776bb7bd936ff8673be36bf528">normalizeWeights</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Normalize the weights in m_modes such as the maximum log-weight is 0. <a href="#a57968f776bb7bd936ff8673be36bf528"></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_s_o_g.html#a684fffab170275102385807ac4e7e78a">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="#a684fffab170275102385807ac4e7e78a"></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_s_o_g.html#aab4d7fd25994729aac6e3baba5cd383c">saveToTextFile</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &file) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements: <a href="#aab4d7fd25994729aac6e3baba5cd383c"></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_s_o_g.html#a5fad24dec97cdea3252aefe55e18c9d0">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="#a5fad24dec97cdea3252aefe55e18c9d0"></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_s_o_g.html#a0fd7e213460dff6354d8183469b5eede">rotateAllCovariances</a> (const double &ang)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Rotate all the covariance matrixes by replacing them by <img class="formulaInl" alt="$ \mathbf{R}~\mathbf{COV}~\mathbf{R}^t $" src="form_74.png"/>, where <img class="formulaInl" alt="$ \mathbf{R} = \left[ \begin{array}{ccc} \cos\alpha & -\sin\alpha & 0 \\ \sin\alpha & \cos\alpha & 0 \\ 0 & 0 & 1 \end{array}\right] $" src="form_75.png"/>. <a href="#a0fd7e213460dff6354d8183469b5eede"></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_s_o_g.html#a6ea4bed0d1155c35f821b0a6514f9c85">drawSingleSample</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &outPart) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draws a single sample from the distribution. <a href="#a6ea4bed0d1155c35f821b0a6514f9c85"></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_s_o_g.html#ad295ebe1240ebbd6d446d9d94863f388">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="#ad295ebe1240ebbd6d446d9d94863f388"></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_s_o_g.html#a0d3616b4482ca13a756b4bf899a23e6a">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="#a0d3616b4482ca13a756b4bf899a23e6a"></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_s_o_g.html#a50001153b335306851841c750a29f7bc">operator+=</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &Ap)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). <a href="#a50001153b335306851841c750a29f7bc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a653fdadc573f209c1fe60c045116b646">evaluatePDF</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &x, bool sumOverAllPhis=false) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Evaluates the PDF at a given point. <a href="#a653fdadc573f209c1fe60c045116b646"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a9d8ed929209755b4b0a7fd409cf0422e">evaluateNormalizedPDF</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &x) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Evaluates the ratio PDF(x) / max_PDF(x*), that is, the normalized PDF in the range [0,1]. <a href="#a9d8ed929209755b4b0a7fd409cf0422e"></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_s_o_g.html#a2d8543d0e4297bd24d85a091d3c2d701">evaluatePDFInArea</a> (const double &x_min, const double &x_max, const double &y_min, const double &y_max, const double &resolutionXY, const double &phi, <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html">CMatrixD</a> &outMatrix, bool sumOverAllPhis=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Evaluates the PDF within a rectangular grid (and a fixed orientation) and saves the result in a matrix (each row contains values for a fixed y-coordinate value). <a href="#a2d8543d0e4297bd24d85a091d3c2d701"></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_s_o_g.html#a04c5455331f1b54c66867b640d4efe9f">bayesianFusion</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html">CPosePDF</a> &p1, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html">CPosePDF</a> &p2, const double &minMahalanobisDistToDrop=0)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html" title="Declares a class that represents a Probability Density function (PDF) of a 2D pose ...">mrpt::poses::CPosePDFSOG</a> object and p2 a <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 2D pose ...">mrpt::poses::CPosePDFGaussian</a> object) <a href="#a04c5455331f1b54c66867b640d4efe9f"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class OPENGL_SETOFOBJECTSPTR > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">void </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#a4ee11d8684292cf3d291d576b4fbce83">getAs3DObject</a> (OPENGL_SETOFOBJECTSPTR &out_obj) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a 3D representation of this PDF. <a href="#a4ee11d8684292cf3d291d576b4fbce83"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class OPENGL_SETOFOBJECTSPTR > </td></tr>
<tr><td class="memTemplItemLeft" align="right" valign="top">OPENGL_SETOFOBJECTSPTR </td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#a90795d49f8ebed4351523caea57e9030">getAs3DObject</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a 3D representation of this PDF. <a href="#a90795d49f8ebed4351523caea57e9030"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a534695890364f4b916bba07dad311bcf">duplicateGetSmartPtr</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). <a href="#a534695890364f4b916bba07dad311bcf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a9ef7857a0b36059c078e195a0a65ac00">clone</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cloning interface for smart pointers. <a href="#a9ef7857a0b36059c078e195a0a65ac00"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#afc168fcbcba4191a0e64fc2a3b7c4c78">getMean</a> (TDATA &mean_point) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the mean, or mathematical expectation of the probability density distribution (PDF). <a href="#afc168fcbcba4191a0e64fc2a3b7c4c78"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aef4a7a5d215e4c7e855286ad4a4d1bbe">getCovarianceAndMean</a> (<a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, STATE_LEN, STATE_LEN > &cov, TDATA &mean_point) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. <a href="#aef4a7a5d215e4c7e855286ad4a4d1bbe"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a8a5db2a590d8fcd23408a3d8a8a1f76c">getCovarianceDynAndMean</a> (<a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> &cov, TDATA &mean_point) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. <a href="#a8a5db2a590d8fcd23408a3d8a8a1f76c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">TDATA </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#ad6c0c9844ac63db9c793652e4619c549">getMeanVal</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the mean, or mathematical expectation of the probability density distribution (PDF). <a href="#ad6c0c9844ac63db9c793652e4619c549"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a76a1c94c45614ec2ab8f4b209d126745">getCovariance</a> (<a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> &cov) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) <a href="#a76a1c94c45614ec2ab8f4b209d126745"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a9ac7187b742c121c3338cb767b7994ba">getCovariance</a> (<a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, STATE_LEN, STATE_LEN > &cov) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) <a href="#a9ac7187b742c121c3338cb767b7994ba"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, <br class="typebreak"/>
STATE_LEN, STATE_LEN > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a689312caf79ee5268fa913e3fa5c82c0">getCovariance</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) <a href="#a689312caf79ee5268fa913e3fa5c82c0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#ae8879d10e9d7a6c94211dd0ffffc4c9d">drawSingleSample</a> (TDATA &outPart) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draws a single sample from the distribution. <a href="#ae8879d10e9d7a6c94211dd0ffffc4c9d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a311648912f182acf9fc0896208492216">getCovarianceEntropy</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Compute the entropy of the estimated covariance matrix. <a href="#a311648912f182acf9fc0896208492216"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static 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">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#ab0110244dd3c1b3f5b90a79576c61929">assureSymmetry</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!) <a href="#ab0110244dd3c1b3f5b90a79576c61929"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a0b6b801e67bca3d8e0d355e7035f8013">writeToStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &out, int *getVersion) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. <a href="#a0b6b801e67bca3d8e0d355e7035f8013"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a73ba83035a64939cdc3aa1c0dfed23ec">readFromStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, int version)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. <a href="#a73ba83035a64939cdc3aa1c0dfed23ec"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a4451912a447eaaf0fec364a69059eb85">CListGaussianModes</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#ae6a96a532ab1b9c12fa57b468cead67d">m_modes</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The list of SOG modes. <a href="#ae6a96a532ab1b9c12fa57b468cead67d"></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_s_o_g_ptr.html">CPosePDFSOGPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a1c402ff44ec11beb104af149456a6eab">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_s_o_g.html#a79074ba64c869fbc83887ff182615373">_init_CPosePDFSOG</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_s_o_g.html#abad3a82659409d556b8c7b02db384a23">classCPosePDFSOG</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_s_o_g.html#a501af61345b8b1e88a9462801afb1a9c">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_s_o_g.html#a8d69a11f669c736e2bcf8822f14aba70">_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_s_o_g.html#a58b3dabeefe4cd56cd20e90fbe345b31">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="#a58b3dabeefe4cd56cd20e90fbe345b31"></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_s_o_g.html#ab76de1691de9b7eeb0aa79308743b3b1">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="#ab76de1691de9b7eeb0aa79308743b3b1"></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_s_o_g.html#a2b806151b365ffb638b3ec543f096f19">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_s_o_g_ptr.html">CPosePDFSOGPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a675a73e612a55123d16f9686559ee415">Create</a> ()</td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a4451912a447eaaf0fec364a69059eb85"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::CListGaussianModes" ref="a4451912a447eaaf0fec364a69059eb85" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1aligned__containers.html">mrpt::aligned_containers</a><<a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html">TGaussianMode</a>>::vector_t <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a4451912a447eaaf0fec364a69059eb85">mrpt::poses::CPosePDFSOG::CListGaussianModes</a></td>
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<p>Definition at line <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html#l00084">84</a> of file <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html">CPosePDFSOG.h</a>.</p>
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<a class="anchor" id="aa5a75cf3820510c2db0cd2596e846396"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::const_iterator" ref="aa5a75cf3820510c2db0cd2596e846396" args="" -->
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<td class="memname">typedef <a class="el" href="classstd_1_1vector_1_1const__iterator.html">CListGaussianModes::const_iterator</a> <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#aa5a75cf3820510c2db0cd2596e846396">mrpt::poses::CPosePDFSOG::const_iterator</a></td>
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<p>Definition at line <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html#l00085">85</a> of file <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html">CPosePDFSOG.h</a>.</p>
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<a class="anchor" id="a710e849d096fe29c5cc88f7a5be39a07"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::iterator" ref="a710e849d096fe29c5cc88f7a5be39a07" args="" -->
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<td class="memname">typedef <a class="el" href="classstd_1_1vector_1_1iterator.html">CListGaussianModes::iterator</a> <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a710e849d096fe29c5cc88f7a5be39a07">mrpt::poses::CPosePDFSOG::iterator</a></td>
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<p>Definition at line <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html#l00086">86</a> of file <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html">CPosePDFSOG.h</a>.</p>
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<a class="anchor" id="a1c402ff44ec11beb104af149456a6eab"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::SmartPtr" ref="a1c402ff44ec11beb104af149456a6eab" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_ptr.html">CPosePDFSOGPtr</a> <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a1c402ff44ec11beb104af149456a6eab">mrpt::poses::CPosePDFSOG::SmartPtr</a></td>
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<p>A typedef for the associated smart pointer </p>
<p>Definition at line <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html#l00060">60</a> of file <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html">CPosePDFSOG.h</a>.</p>
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<a class="anchor" id="ab4d442c6713a2aaac04cf79bee93c251"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::type_value" ref="ab4d442c6713a2aaac04cf79bee93c251" args="" -->
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<td class="memname">typedef TDATA <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#ab4d442c6713a2aaac04cf79bee93c251">mrpt::utils::CProbabilityDensityFunction::type_value</a><code> [inherited]</code></td>
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<p>The type of the state the PDF represents. </p>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00054">54</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
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<hr/><h2>Member Enumeration Documentation</h2>
<a class="anchor" id="a78099595e3a530684ad3a13fc4fd7b4d"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::@38" ref="a78099595e3a530684ad3a13fc4fd7b4d" args="" -->
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<td class="memname">anonymous enum<code> [inherited]</code></td>
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<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a78099595e3a530684ad3a13fc4fd7b4dab32bd9924253df5766c457da8e44181e"></a><!-- doxytag: member="is_3D_val" ref="a78099595e3a530684ad3a13fc4fd7b4dab32bd9924253df5766c457da8e44181e" args="" -->is_3D_val</em> </td><td>
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<p>Definition at line <a class="el" href="_c_pose_p_d_f_8h_source.html#l00079">79</a> of file <a class="el" href="_c_pose_p_d_f_8h_source.html">CPosePDF.h</a>.</p>
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<a class="anchor" id="a7cbf144d5c341d584ec473fd1da8c6bc"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::@39" ref="a7cbf144d5c341d584ec473fd1da8c6bc" args="" -->
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<td class="memname">anonymous enum<code> [inherited]</code></td>
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<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a7cbf144d5c341d584ec473fd1da8c6bcae730029e8ea27257d5355d025c6b111a"></a><!-- doxytag: member="is_PDF_val" ref="a7cbf144d5c341d584ec473fd1da8c6bcae730029e8ea27257d5355d025c6b111a" args="" -->is_PDF_val</em> </td><td>
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<p>Definition at line <a class="el" href="_c_pose_p_d_f_8h_source.html#l00081">81</a> of file <a class="el" href="_c_pose_p_d_f_8h_source.html">CPosePDF.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="af16c53019e95b4765aad65535aab42a0"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::CPosePDFSOG" ref="af16c53019e95b4765aad65535aab42a0" args="(size_t nModes=1)" -->
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<td class="memname">mrpt::poses::CPosePDFSOG::CPosePDFSOG </td>
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<p>Default constructor. </p>
<dl><dt><b>Parameters:</b></dt><dd>
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<tr><td class="paramname">nModes</td><td>The initial size of <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#ae6a96a532ab1b9c12fa57b468cead67d" title="The list of SOG modes.">CPosePDFSOG::m_modes</a> </td></tr>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a8d69a11f669c736e2bcf8822f14aba70"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::_GetBaseClass" ref="a8d69a11f669c736e2bcf8822f14aba70" args="()" -->
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<td class="memname">static const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::poses::CPosePDFSOG::_GetBaseClass </td>
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<p>Reimplemented from <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#a513d0c42ed405a89e5276af91ab0b169">mrpt::poses::CPosePDF</a>.</p>
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<a class="anchor" id="ab0110244dd3c1b3f5b90a79576c61929"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::assureSymmetry" ref="ab0110244dd3c1b3f5b90a79576c61929" args="()" -->
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<td class="memname">void mrpt::poses::CPosePDFSOG::assureSymmetry </td>
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<p>Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!) </p>
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<a class="anchor" id="a04c5455331f1b54c66867b640d4efe9f"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::bayesianFusion" ref="a04c5455331f1b54c66867b640d4efe9f" args="(const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0)" -->
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<td class="memname">void mrpt::poses::CPosePDFSOG::bayesianFusion </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html">CPosePDF</a> & </td>
<td class="paramname"><em>p1</em>, </td>
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<td class="paramname"><em>p2</em>, </td>
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<p>Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html" title="Declares a class that represents a Probability Density function (PDF) of a 2D pose ...">mrpt::poses::CPosePDFSOG</a> object and p2 a <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 2D pose ...">mrpt::poses::CPosePDFGaussian</a> object) </p>
<p>Implements <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#acb56750e833e1f8a69d7d51eb0d0c4af">mrpt::poses::CPosePDF</a>.</p>
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<a class="anchor" id="a0ee926714e57a27b66c9ed14cf01991e"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::begin" ref="a0ee926714e57a27b66c9ed14cf01991e" args="()" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a710e849d096fe29c5cc88f7a5be39a07">iterator</a> mrpt::poses::CPosePDFSOG::begin </td>
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<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html#l00135">135</a> of file <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html">CPosePDFSOG.h</a>.</p>
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<a class="anchor" id="a49c5ca4d606792d5dc50be5fd60842af"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::begin" ref="a49c5ca4d606792d5dc50be5fd60842af" args="() const " -->
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<p>Definition at line <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html#l00137">137</a> of file <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html">CPosePDFSOG.h</a>.</p>
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<a class="anchor" id="a5fad24dec97cdea3252aefe55e18c9d0"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::changeCoordinatesReference" ref="a5fad24dec97cdea3252aefe55e18c9d0" args="(const CPose3D &newReferenceBase)" -->
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<p>This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. </p>
<p>Result PDF substituted the currently stored one in the object. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aac79fa433163e2ffe0cb3c12d02e61ba">mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 ></a>.</p>
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<a class="anchor" id="a974b5cfb68779321bd2a7be10b96f405"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::clear" ref="a974b5cfb68779321bd2a7be10b96f405" args="()" -->
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<p>Clear the list of modes. </p>
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<a class="anchor" id="a9ef7857a0b36059c078e195a0a65ac00"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::clone" ref="a9ef7857a0b36059c078e195a0a65ac00" args="() const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a>* mrpt::utils::CObject::clone </td>
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<p>Cloning interface for smart pointers. </p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable.html#acb2597d6d93b406501d9f3530eb56adf">mrpt::opengl::CRenderizable</a>, and <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#ac164cb1d2cf682778ce52967cbd56469">mrpt::opengl::CRenderizableDisplayList</a>.</p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00154">154</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="a684fffab170275102385807ac4e7e78a"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::copyFrom" ref="a684fffab170275102385807ac4e7e78a" args="(const CPosePDF &o)" -->
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<td class="memname">void mrpt::poses::CPosePDFSOG::copyFrom </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html">CPosePDF</a> & </td>
<td class="paramname"><em>o</em></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Copy operator, translating if necesary (for example, between particles and gaussian representations) </p>
<p>Implements <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#ae4665eb85fdf3680ea9cf4a8a9120619">mrpt::poses::CPosePDF</a>.</p>
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<a class="anchor" id="a675a73e612a55123d16f9686559ee415"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::Create" ref="a675a73e612a55123d16f9686559ee415" args="()" -->
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<td class="memname">static <a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_ptr.html">CPosePDFSOGPtr</a> mrpt::poses::CPosePDFSOG::Create </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static]</code></td>
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<td class="memname">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::poses::CPosePDFSOG::CreateObject </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static]</code></td>
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<a class="anchor" id="ad295ebe1240ebbd6d446d9d94863f388"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::drawManySamples" ref="ad295ebe1240ebbd6d446d9d94863f388" args="(size_t N, std::vector< vector_double > &outSamples) const " -->
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<td class="memname">void mrpt::poses::CPosePDFSOG::drawManySamples </td>
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<td class="paramtype">size_t </td>
<td class="paramname"><em>N</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> > & </td>
<td class="paramname"><em>outSamples</em> </td>
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<p>Draws a number of samples from the distribution, and saves as a list of 1x3 vectors, where each row contains a (x,y,phi) datum. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aa437cf2c11cb0e937e851a0f498a4fb2">mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 ></a>.</p>
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<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::drawSingleSample </td>
<td>(</td>
<td class="paramtype">TDATA & </td>
<td class="paramname"><em>outPart</em></td><td>)</td>
<td> const<code> [pure virtual, inherited]</code></td>
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<p>Draws a single sample from the distribution. </p>
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<a class="anchor" id="a6ea4bed0d1155c35f821b0a6514f9c85"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::drawSingleSample" ref="a6ea4bed0d1155c35f821b0a6514f9c85" args="(CPose2D &outPart) const " -->
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<td class="memname">void mrpt::poses::CPosePDFSOG::drawSingleSample </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>outPart</em></td><td>)</td>
<td> const</td>
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<p>Draws a single sample from the distribution. </p>
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<a class="anchor" id="ab76de1691de9b7eeb0aa79308743b3b1"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::duplicate" ref="ab76de1691de9b7eeb0aa79308743b3b1" args="() const " -->
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<td class="memname">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::poses::CPosePDFSOG::duplicate </td>
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<td class="paramname"></td><td>)</td>
<td> const<code> [virtual]</code></td>
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<p>Returns a copy of the object, indepently of its class. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#aa1070e173c5f7e307b09c53f1fd256e2">mrpt::utils::CObject</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> mrpt::utils::CObject::duplicateGetSmartPtr </td>
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<p>Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). </p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00151">151</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="ad675bae2f5825a0f788d61168480ad7b"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::empty" ref="ad675bae2f5825a0f788d61168480ad7b" args="() const " -->
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<td class="memname">bool mrpt::poses::CPosePDFSOG::empty </td>
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<td> const<code> [inline]</code></td>
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<p>Return whether there is any Gaussian mode. </p>
<p>Definition at line <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html#l00103">103</a> of file <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html">CPosePDFSOG.h</a>.</p>
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<a class="anchor" id="a2fc732b74248fa20deab875ea91fc261"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::end" ref="a2fc732b74248fa20deab875ea91fc261" args="()" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a710e849d096fe29c5cc88f7a5be39a07">iterator</a> mrpt::poses::CPosePDFSOG::end </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html#l00136">136</a> of file <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html">CPosePDFSOG.h</a>.</p>
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<a class="anchor" id="aa62ff5da8ff954abcf78e405ed204b34"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::end" ref="aa62ff5da8ff954abcf78e405ed204b34" args="() const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#aa5a75cf3820510c2db0cd2596e846396">const_iterator</a> mrpt::poses::CPosePDFSOG::end </td>
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<td> const<code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html#l00138">138</a> of file <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html">CPosePDFSOG.h</a>.</p>
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<a class="anchor" id="a42d5997caa210d1f6569d117c56e12e3"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::erase" ref="a42d5997caa210d1f6569d117c56e12e3" args="(iterator i)" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a710e849d096fe29c5cc88f7a5be39a07">iterator</a> mrpt::poses::CPosePDFSOG::erase </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a710e849d096fe29c5cc88f7a5be39a07">iterator</a> </td>
<td class="paramname"><em>i</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html#l00140">140</a> of file <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html">CPosePDFSOG.h</a>.</p>
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<a class="anchor" id="a9d8ed929209755b4b0a7fd409cf0422e"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::evaluateNormalizedPDF" ref="a9d8ed929209755b4b0a7fd409cf0422e" args="(const CPose2D &x) const " -->
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<td class="memname">double mrpt::poses::CPosePDFSOG::evaluateNormalizedPDF </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>x</em></td><td>)</td>
<td> const</td>
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<p>Evaluates the ratio PDF(x) / max_PDF(x*), that is, the normalized PDF in the range [0,1]. </p>
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<a class="anchor" id="a653fdadc573f209c1fe60c045116b646"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::evaluatePDF" ref="a653fdadc573f209c1fe60c045116b646" args="(const CPose2D &x, bool sumOverAllPhis=false) const " -->
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<td class="memname">double mrpt::poses::CPosePDFSOG::evaluatePDF </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>x</em>, </td>
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<td class="paramname"><em>sumOverAllPhis</em> = <code>false</code> </td>
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<p>Evaluates the PDF at a given point. </p>
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<td class="memname">void mrpt::poses::CPosePDFSOG::evaluatePDFInArea </td>
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<td class="paramname"><em>x_min</em>, </td>
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<td class="paramtype">const double & </td>
<td class="paramname"><em>x_max</em>, </td>
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<td class="paramtype">const double & </td>
<td class="paramname"><em>y_min</em>, </td>
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<td class="paramtype">const double & </td>
<td class="paramname"><em>y_max</em>, </td>
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<td class="paramtype">const double & </td>
<td class="paramname"><em>resolutionXY</em>, </td>
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<td></td>
<td class="paramtype">const double & </td>
<td class="paramname"><em>phi</em>, </td>
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<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html">CMatrixD</a> & </td>
<td class="paramname"><em>outMatrix</em>, </td>
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<td class="paramname"><em>sumOverAllPhis</em> = <code>false</code> </td>
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<p>Evaluates the PDF within a rectangular grid (and a fixed orientation) and saves the result in a matrix (each row contains values for a fixed y-coordinate value). </p>
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<a class="anchor" id="ac8724e3545577a6becbd6e35cacfdbbb"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::get" ref="ac8724e3545577a6becbd6e35cacfdbbb" args="(size_t i) const " -->
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<td class="memname">const <a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html">TGaussianMode</a>& mrpt::poses::CPosePDFSOG::get </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>i</em></td><td>)</td>
<td> const<code> [inline]</code></td>
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<p>Access to individual beacons. </p>
<p>Definition at line <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html#l00120">120</a> of file <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html">CPosePDFSOG.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00282">ASSERT_</a>.</p>
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<td class="memname"><a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html">TGaussianMode</a>& mrpt::poses::CPosePDFSOG::get </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>i</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Access to individual beacons. </p>
<p>Definition at line <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html#l00125">125</a> of file <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html">CPosePDFSOG.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00282">ASSERT_</a>.</p>
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<a class="anchor" id="a4ee11d8684292cf3d291d576b4fbce83"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::getAs3DObject" ref="a4ee11d8684292cf3d291d576b4fbce83" args="(OPENGL_SETOFOBJECTSPTR &out_obj) const " -->
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<td class="memname">void mrpt::poses::CPosePDF::getAs3DObject </td>
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<p>Returns a 3D representation of this PDF. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>Needs the mrpt-opengl library, and using <a class="el" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">mrpt::opengl::CSetOfObjectsPtr</a> as template argument. </dd></dl>
<p>Definition at line <a class="el" href="_c_pose_p_d_f_8h_source.html#l00088">88</a> of file <a class="el" href="_c_pose_p_d_f_8h_source.html">CPosePDF.h</a>.</p>
<p>References <a class="el" href="pose__pdfs_8h_source.html#l00042">mrpt::opengl::posePDF2opengl()</a>.</p>
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<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Returns a 3D representation of this PDF. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>Needs the mrpt-opengl library, and using <a class="el" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">mrpt::opengl::CSetOfObjectsPtr</a> as template argument. </dd></dl>
<p>Definition at line <a class="el" href="_c_pose_p_d_f_8h_source.html#l00097">97</a> of file <a class="el" href="_c_pose_p_d_f_8h_source.html">CPosePDF.h</a>.</p>
<p>References <a class="el" href="pose__pdfs_8h_source.html#l00042">mrpt::opengl::posePDF2opengl()</a>.</p>
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<a class="anchor" id="a76a1c94c45614ec2ab8f4b209d126745"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::getCovariance" ref="a76a1c94c45614ec2ab8f4b209d126745" args="(CMatrixDouble &cov) const " -->
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<td class="memname">void mrpt::utils::CProbabilityDensityFunction::getCovariance </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> & </td>
<td class="paramname"><em>cov</em></td><td>)</td>
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<p>Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getMean, getCovarianceAndMean </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00089">89</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
<p>References <a class="el" href="_c_probability_density_function_8h_source.html#l00069">mrpt::utils::CProbabilityDensityFunction::getCovarianceDynAndMean()</a>.</p>
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<a class="anchor" id="a9ac7187b742c121c3338cb767b7994ba"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::getCovariance" ref="a9ac7187b742c121c3338cb767b7994ba" args="(CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const " -->
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<td class="memname">void mrpt::utils::CProbabilityDensityFunction::getCovariance </td>
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<p>Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getMean, getCovarianceAndMean </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00098">98</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
<p>References <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aef4a7a5d215e4c7e855286ad4a4d1bbe">mrpt::utils::CProbabilityDensityFunction::getCovarianceAndMean()</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a><double,STATE_LEN,STATE_LEN> mrpt::utils::CProbabilityDensityFunction::getCovariance </td>
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<p>Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getMean </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00107">107</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
<p>References <a class="el" href="ops__matrices_8h_source.html#l00233">mrpt::math::cov()</a>, and <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aef4a7a5d215e4c7e855286ad4a4d1bbe">mrpt::utils::CProbabilityDensityFunction::getCovarianceAndMean()</a>.</p>
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<a class="anchor" id="aef4a7a5d215e4c7e855286ad4a4d1bbe"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::getCovarianceAndMean" ref="aef4a7a5d215e4c7e855286ad4a4d1bbe" args="(CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, TDATA &mean_point) const =0" -->
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<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::getCovarianceAndMean </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, STATE_LEN, STATE_LEN > & </td>
<td class="paramname"><em>cov</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">TDATA & </td>
<td class="paramname"><em>mean_point</em> </td>
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<td></td>
<td>)</td>
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<p>Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getMean </dd></dl>
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<a class="anchor" id="abc7e0b966bdc5b30e15af46bdfdd0480"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::getCovarianceAndMean" ref="abc7e0b966bdc5b30e15af46bdfdd0480" args="(CMatrixDouble33 &cov, CPose2D &mean_point) const " -->
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<td class="memname">void mrpt::poses::CPosePDFSOG::getCovarianceAndMean </td>
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<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> & </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
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<p>Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a87dd71faf5ded1d4e4332b784fc74ead" title="Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).">getMean</a> </dd></dl>
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<a class="anchor" id="a8a5db2a590d8fcd23408a3d8a8a1f76c"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::getCovarianceDynAndMean" ref="a8a5db2a590d8fcd23408a3d8a8a1f76c" args="(CMatrixDouble &cov, TDATA &mean_point) const " -->
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<td class="memname">void mrpt::utils::CProbabilityDensityFunction::getCovarianceDynAndMean </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> & </td>
<td class="paramname"><em>cov</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">TDATA & </td>
<td class="paramname"><em>mean_point</em> </td>
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<td>)</td>
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<p>Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getMean </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00069">69</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
<p>References <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aef4a7a5d215e4c7e855286ad4a4d1bbe">mrpt::utils::CProbabilityDensityFunction::getCovarianceAndMean()</a>.</p>
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<a class="anchor" id="a311648912f182acf9fc0896208492216"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::getCovarianceEntropy" ref="a311648912f182acf9fc0896208492216" args="() const " -->
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<p>Compute the entropy of the estimated covariance matrix. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a href="http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy">http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00145">145</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
<p>References <a class="el" href="_c_probability_density_function_8h_source.html#l00107">mrpt::utils::CProbabilityDensityFunction::getCovariance()</a>, and <a class="el" href="eigen__plugins_8h_source.html#l00495">det()</a>.</p>
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<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::getMean </td>
<td>(</td>
<td class="paramtype">TDATA & </td>
<td class="paramname"><em>mean_point</em></td><td>)</td>
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<p>Returns the mean, or mathematical expectation of the probability density distribution (PDF). </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getCovarianceAndMean </dd></dl>
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<td class="memname">void mrpt::poses::CPosePDFSOG::getMean </td>
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<td class="paramname"><em>mean_pose</em></td><td>)</td>
<td> const</td>
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<p>Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a76a1c94c45614ec2ab8f4b209d126745" title="Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)">getCovariance</a> </dd></dl>
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<p>Returns the mean, or mathematical expectation of the probability density distribution (PDF). </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getCovariance </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00079">79</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
<p>References <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#afc168fcbcba4191a0e64fc2a3b7c4c78">mrpt::utils::CProbabilityDensityFunction::getMean()</a>.</p>
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<a class="anchor" id="ae1fe9766d5a230bb87b57e3633a8037c"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::getMostLikelyCovarianceAndMean" ref="ae1fe9766d5a230bb87b57e3633a8037c" args="(CMatrixDouble33 &cov, CPose2D &mean_point) const " -->
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<td class="memname">void mrpt::poses::CPosePDFSOG::getMostLikelyCovarianceAndMean </td>
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<p>For the most likely Gaussian mode in the SOG, returns the pose covariance matrix (3x3 cov matrix) and the mean. </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_s_o_g.html#a87dd71faf5ded1d4e4332b784fc74ead" title="Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).">getMean</a> </dd></dl>
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<a class="anchor" id="a58b3dabeefe4cd56cd20e90fbe345b31"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::GetRuntimeClass" ref="a58b3dabeefe4cd56cd20e90fbe345b31" args="() const " -->
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<td class="memname">virtual const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::poses::CPosePDFSOG::GetRuntimeClass </td>
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<p>Returns information about the class of an object in runtime. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#a014d3940aa5b080b5b7b38ee157d5578">mrpt::poses::CPosePDF</a>.</p>
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<td class="paramname"><em>o</em></td><td>)</td>
<td> const<code> [virtual]</code></td>
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<p>Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. </p>
<p>Implements <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#aeeb6b08bacd4308d67376b8ae8bcb9d4">mrpt::poses::CPosePDF</a>.</p>
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<a class="anchor" id="a1c7943d0ab77c8ea3f46b86309069aad"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::is_3D" ref="a1c7943d0ab77c8ea3f46b86309069aad" args="()" -->
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<p>Definition at line <a class="el" href="_c_pose_p_d_f_8h_source.html#l00080">80</a> of file <a class="el" href="_c_pose_p_d_f_8h_source.html">CPosePDF.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_pose_p_d_f_8h_source.html#l00082">82</a> of file <a class="el" href="_c_pose_p_d_f_8h_source.html">CPosePDF.h</a>.</p>
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<a class="anchor" id="a6b6a41a954f3636e569215352c28b308"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::mergeModes" ref="a6b6a41a954f3636e569215352c28b308" args="(double max_KLd=0.5, bool verbose=false)" -->
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<p>Merge very close modes so the overall number of modes is reduced while preserving the total distribution. </p>
<p>This method uses the approach described in the paper:</p>
<ul>
<li>"Kullback-Leibler Approach to Gaussian Mixture Reduction" AR Runnalls. IEEE Transactions on Aerospace and Electronic Systems, 2007.</li>
</ul>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">max_KLd</td><td>The maximum KL-divergence to consider the merge of two nodes (and then stops the process). </td></tr>
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</dd>
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<a class="anchor" id="a57968f776bb7bd936ff8673be36bf528"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::normalizeWeights" ref="a57968f776bb7bd936ff8673be36bf528" args="()" -->
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<p>Normalize the weights in m_modes such as the maximum log-weight is 0. </p>
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<a class="anchor" id="a50001153b335306851841c750a29f7bc"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::operator+=" ref="a50001153b335306851841c750a29f7bc" args="(const CPose2D &Ap)" -->
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<td class="memname">void mrpt::poses::CPosePDFSOG::operator+= </td>
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<td class="paramname"><em>Ap</em></td><td>)</td>
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<p>Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). </p>
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<td class="memname">const <a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html">TGaussianMode</a>& mrpt::poses::CPosePDFSOG::operator[] </td>
<td>(</td>
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<p>Access to individual beacons. </p>
<p>Definition at line <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html#l00109">109</a> of file <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html">CPosePDFSOG.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00282">ASSERT_</a>.</p>
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<td class="memname"><a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html">TGaussianMode</a>& mrpt::poses::CPosePDFSOG::operator[] </td>
<td>(</td>
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<p>Access to individual beacons. </p>
<p>Definition at line <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html#l00114">114</a> of file <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html">CPosePDFSOG.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00282">ASSERT_</a>.</p>
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<a class="anchor" id="ad4aa3968987a7f5f487f072cd6ecdcbd"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::push_back" ref="ad4aa3968987a7f5f487f072cd6ecdcbd" args="(const TGaussianMode &m)" -->
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<td class="memname">void mrpt::poses::CPosePDFSOG::push_back </td>
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<td class="paramtype">const <a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g_1_1_t_gaussian_mode.html">TGaussianMode</a> & </td>
<td class="paramname"><em>m</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Inserts a copy of the given mode into the SOG. </p>
<p>Definition at line <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html#l00131">131</a> of file <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html">CPosePDFSOG.h</a>.</p>
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<a class="anchor" id="a73ba83035a64939cdc3aa1c0dfed23ec"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::readFromStream" ref="a73ba83035a64939cdc3aa1c0dfed23ec" args="(mrpt::utils::CStream &in, int version)=0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::readFromStream </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>in</em>, </td>
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<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>version</em> </td>
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<td>)</td>
<td></td><td><code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">in</td><td>The input binary stream where the object data must read from. </td></tr>
<tr><td class="paramname">version</td><td>The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. </td></tr>
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</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d" title="Reads a block of bytes from the stream into Buffer On any error, or if ZERO bytes are read...">CStream::ReadBuffer</a> </td></tr>
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</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a0194e57ec48c1dfc6aa00c23d3409143">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a12db95e8c32d48d2d2483936dec516a7">mrpt::math::CMatrix</a>.</p>
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<a class="anchor" id="a16fb487dcced898b03f3187c938fa4e4"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::resize" ref="a16fb487dcced898b03f3187c938fa4e4" args="(const size_t N)" -->
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<td class="memname">void mrpt::poses::CPosePDFSOG::resize </td>
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<p>Resize the number of SOG modes. </p>
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<a class="anchor" id="a0fd7e213460dff6354d8183469b5eede"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::rotateAllCovariances" ref="a0fd7e213460dff6354d8183469b5eede" args="(const double &ang)" -->
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<td class="memname">void mrpt::poses::CPosePDFSOG::rotateAllCovariances </td>
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<p>Rotate all the covariance matrixes by replacing them by <img class="formulaInl" alt="$ \mathbf{R}~\mathbf{COV}~\mathbf{R}^t $" src="form_74.png"/>, where <img class="formulaInl" alt="$ \mathbf{R} = \left[ \begin{array}{ccc} \cos\alpha & -\sin\alpha & 0 \\ \sin\alpha & \cos\alpha & 0 \\ 0 & 0 & 1 \end{array}\right] $" src="form_75.png"/>. </p>
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<a class="anchor" id="aab4d7fd25994729aac6e3baba5cd383c"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::saveToTextFile" ref="aab4d7fd25994729aac6e3baba5cd383c" args="(const std::string &file) const " -->
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<td class="memname">void mrpt::poses::CPosePDFSOG::saveToTextFile </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>file</em></td><td>)</td>
<td> const<code> [virtual]</code></td>
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<p>Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements: </p>
<ul>
<li>w (The weight)</li>
<li>x_mean (gaussian mean value)</li>
<li>y_mean (gaussian mean value)</li>
<li>phi_mean (gaussian mean value)</li>
<li>C11 (Covariance elements)</li>
<li>C22 (Covariance elements)</li>
<li>C33 (Covariance elements)</li>
<li>C12 (Covariance elements)</li>
<li>C13 (Covariance elements)</li>
<li>C23 (Covariance elements) </li>
</ul>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a960b9e93abcf834b4bb5ce5f880b2570">mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 ></a>.</p>
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<a class="anchor" id="a69128101c719fe54f0bb33a42e82f46f"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::size" ref="a69128101c719fe54f0bb33a42e82f46f" args="() const " -->
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<td class="memname">size_t mrpt::poses::CPosePDFSOG::size </td>
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<td> const<code> [inline]</code></td>
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<p>Return the number of Gaussian modes. </p>
<p>Definition at line <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html#l00102">102</a> of file <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html">CPosePDFSOG.h</a>.</p>
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<a class="anchor" id="a0b6b801e67bca3d8e0d355e7035f8013"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::writeToStream" ref="a0b6b801e67bca3d8e0d355e7035f8013" args="(mrpt::utils::CStream &out, int *getVersion) const =0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::writeToStream </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
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<td></td>
<td class="paramtype">int * </td>
<td class="paramname"><em>getVersion</em> </td>
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<td>)</td>
<td></td><td> const<code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. </p>
<p>This can not be used directly be users, instead use "stream << object;" for writing it to a stream. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out</td><td>The output binary stream where object must be dumped. </td></tr>
<tr><td class="paramname">getVersion</td><td>If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a276005e7110c9de74ff3277b3f7bf621" title="Writes a block of bytes to the stream from Buffer.">CStream::WriteBuffer</a> </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a767e787b52208ab4dd46ba7f5e2fd224">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a059d7eaf80dab9c7435154146d2b7dbf">mrpt::math::CMatrix</a>.</p>
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<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="a6fec28a53e20dfc1c4d046c26f9f7b48"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::mrpt::utils::CStream" ref="a6fec28a53e20dfc1c4d046c26f9f7b48" args="" -->
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<td class="memname">friend class <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a><code> [friend, inherited]</code></td>
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<p>Reimplemented from <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::utils::CSerializable</a>.</p>
<p>Definition at line <a class="el" href="_c_pose_p_d_f_8h_source.html#l00060">60</a> of file <a class="el" href="_c_pose_p_d_f_8h_source.html">CPosePDF.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a79074ba64c869fbc83887ff182615373"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::_init_CPosePDFSOG" ref="a79074ba64c869fbc83887ff182615373" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html">mrpt::utils::CLASSINIT</a> <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a79074ba64c869fbc83887ff182615373">mrpt::poses::CPosePDFSOG::_init_CPosePDFSOG</a><code> [static, protected]</code></td>
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<p>Definition at line <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html#l00060">60</a> of file <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html">CPosePDFSOG.h</a>.</p>
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<a class="anchor" id="acb51e4dd811d62c2696aee449d0a4715"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::classCObject" ref="acb51e4dd811d62c2696aee449d0a4715" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">mrpt::utils::CObject::classCObject</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00139">139</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="aa0b97f5a0bb0d56326a23f5d8e515ae7"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::classCPosePDF" ref="aa0b97f5a0bb0d56326a23f5d8e515ae7" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#aa0b97f5a0bb0d56326a23f5d8e515ae7">mrpt::poses::CPosePDF::classCPosePDF</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_pose_p_d_f_8h_source.html#l00060">60</a> of file <a class="el" href="_c_pose_p_d_f_8h_source.html">CPosePDF.h</a>.</p>
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<a class="anchor" id="abad3a82659409d556b8c7b02db384a23"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::classCPosePDFSOG" ref="abad3a82659409d556b8c7b02db384a23" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#abad3a82659409d556b8c7b02db384a23">mrpt::poses::CPosePDFSOG::classCPosePDFSOG</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html#l00060">60</a> of file <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html">CPosePDFSOG.h</a>.</p>
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<a class="anchor" id="a28ec2a03d277a8469b8ecfc81892afdf"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::classCSerializable" ref="a28ec2a03d277a8469b8ecfc81892afdf" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">mrpt::utils::CSerializable::classCSerializable</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_serializable_8h_source.html#l00056">56</a> of file <a class="el" href="_c_serializable_8h_source.html">CSerializable.h</a>.</p>
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<a class="anchor" id="a501af61345b8b1e88a9462801afb1a9c"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::classinfo" ref="a501af61345b8b1e88a9462801afb1a9c" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a501af61345b8b1e88a9462801afb1a9c">mrpt::poses::CPosePDFSOG::classinfo</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html#l00060">60</a> of file <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html">CPosePDFSOG.h</a>.</p>
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<a class="anchor" id="ae6a96a532ab1b9c12fa57b468cead67d"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::m_modes" ref="ae6a96a532ab1b9c12fa57b468cead67d" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a4451912a447eaaf0fec364a69059eb85">CListGaussianModes</a> <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#ae6a96a532ab1b9c12fa57b468cead67d">mrpt::poses::CPosePDFSOG::m_modes</a><code> [protected]</code></td>
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<p>The list of SOG modes. </p>
<p>Definition at line <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html#l00094">94</a> of file <a class="el" href="_c_pose_p_d_f_s_o_g_8h_source.html">CPosePDFSOG.h</a>.</p>
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<a class="anchor" id="a77a06347b68aa3c08de63c790d88eb12"></a><!-- doxytag: member="mrpt::poses::CPosePDFSOG::state_length" ref="a77a06347b68aa3c08de63c790d88eb12" args="" -->
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<td class="memname">const size_t <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a77a06347b68aa3c08de63c790d88eb12">mrpt::utils::CProbabilityDensityFunction::state_length</a><code> [static, inherited]</code></td>
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<p>The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). </p>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00053">53</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
