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<a href="#pub-methods">Public Member Functions</a> |
<a href="#pro-methods">Protected Member Functions</a> |
<a href="#pro-attribs">Protected Attributes</a> </div>
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<div class="title">mrpt::poses::CPoseRandomSampler 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::CPoseRandomSampler" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>An efficient generator of random samples drawn from a given 2D (<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>) or 3D (<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">CPose3DPDF</a>) pose probability density function (pdf). </p>
<p>This class keeps an internal state which speeds up the sequential generation of samples. It can manage any kind of pose PDF.</p>
<p>Use with <a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#abf0f1ac3faab2b9d6878c083db84e54a" title="This method must be called to select the PDF from which to draw samples.">CPoseRandomSampler::setPosePDF</a>, then <a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a43d3445245f46160f358d84ae97cc165" title="Generate a new sample from the selected PDF.">CPoseRandomSampler::drawSample</a> to draw values.</p>
<p>Notice that you can pass a 2D or 3D pose PDF, then ask for a 2D or 3D sample. This class always returns the kind of sample you ask it for, but will skip missing terms or fill out with zeroes as required. Specifically, when sampling 3D poses from a 2D pose pdf, this class will be smart enought to draw only the 3 required dimensions, avoiding a waste of time with the other 3 missing components.</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.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_pose3_d_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">CPose3DPDF</a> </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_pose_random_sampler_8h_source.html">mrpt/poses/CPoseRandomSampler.h</a>></code></p>
<p><a href="classmrpt_1_1poses_1_1_c_pose_random_sampler-members.html">List of all members.</a></p>
<table class="memberdecls">
<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_random_sampler.html#acb60dc5467ee5160150cb9e445c8c191">CPoseRandomSampler</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor. <a href="#acb60dc5467ee5160150cb9e445c8c191"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a320dc3d1f0906db355b24de010931376">~CPoseRandomSampler</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a320dc3d1f0906db355b24de010931376"></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_random_sampler.html#abf0f1ac3faab2b9d6878c083db84e54a">setPosePDF</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html">CPosePDF</a> *pdf)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method must be called to select the PDF from which to draw samples. <a href="#abf0f1ac3faab2b9d6878c083db84e54a"></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_random_sampler.html#adef38aec1a41ec6a4231647f5eb345d4">setPosePDF</a> (const <a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_ptr.html">CPosePDFPtr</a> &pdf)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method must be called to select the PDF from which to draw samples. <a href="#adef38aec1a41ec6a4231647f5eb345d4"></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_random_sampler.html#a5e12878050c3f3994f389ad8cd12c666">setPosePDF</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html">CPosePDF</a> &pdf)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method must be called to select the PDF from which to draw samples. <a href="#a5e12878050c3f3994f389ad8cd12c666"></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_random_sampler.html#a6314eaa4d5bf6ffaa4a1b6869106ae8e">setPosePDF</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html">CPose3DPDF</a> *pdf)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method must be called to select the PDF from which to draw samples. <a href="#a6314eaa4d5bf6ffaa4a1b6869106ae8e"></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_random_sampler.html#a940459f37d1bb6e17c67ab80861db6c2">setPosePDF</a> (const <a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> &pdf)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method must be called to select the PDF from which to draw samples. <a href="#a940459f37d1bb6e17c67ab80861db6c2"></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_random_sampler.html#ab1d1cc59e5e5c3b2978517f1e28bd36d">setPosePDF</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html">CPose3DPDF</a> &pdf)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method must be called to select the PDF from which to draw samples. <a href="#ab1d1cc59e5e5c3b2978517f1e28bd36d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a43d3445245f46160f358d84ae97cc165">drawSample</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &p) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Generate a new sample from the selected PDF. <a href="#a43d3445245f46160f358d84ae97cc165"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a205a5ceac3545512bf0d915a6c25287b">drawSample</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &p) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Generate a new sample from the selected PDF. <a href="#a205a5ceac3545512bf0d915a6c25287b"></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_random_sampler.html#a6d6ea08c74a3a52ca3aaa5137a72dd1d">isPrepared</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return true if samples can be generated, which only requires a previous call to setPosePDF. <a href="#a6d6ea08c74a3a52ca3aaa5137a72dd1d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a16211105ce3a881bd2ce57371e319a3f">getSamplingMean2D</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &out_mean) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If the object has been loaded with setPosePDF this method returns the 2D pose mean samples will be drawn around. <a href="#a16211105ce3a881bd2ce57371e319a3f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a354af4079e564b5fe714167377bfc38e">getSamplingMean3D</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &out_mean) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If the object has been loaded with setPosePDF this method returns the 3D pose mean samples will be drawn around. <a href="#a354af4079e564b5fe714167377bfc38e"></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_random_sampler.html#af5d1db4e5e55774e64ffe98a30929912">getOriginalPDFCov2D</a> (<a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> &cov3x3) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Retrieves the 3x3 covariance of the original PDF in <img class="formulaInl" alt="$ [ x ~ y ~ \phi ] $" src="form_77.png"/>. <a href="#af5d1db4e5e55774e64ffe98a30929912"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a4225a1da5c0b9ec0fefa924d7e9ca093">getOriginalPDFCov2D</a> (<a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> &cov3x3) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Retrieves the 3x3 covariance of the original PDF in <img class="formulaInl" alt="$ [ x ~ y ~ \phi ] $" src="form_77.png"/>. <a href="#a4225a1da5c0b9ec0fefa924d7e9ca093"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#ab5d68b39fbd86eeb4e42c915b0572d70">getOriginalPDFCov3D</a> (<a class="el" href="namespacemrpt_1_1math.html#a69ac788617e87d06107cd7a32a1352b7">CMatrixDouble66</a> &cov6x6) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Retrieves the 6x6 covariance of the original PDF in <img class="formulaInl" alt="$ [ x ~ y ~ z ~ yaw ~ pitch ~ roll ] $" src="form_78.png"/>. <a href="#ab5d68b39fbd86eeb4e42c915b0572d70"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#aac1343b9e1de1d2fae603a47d8b4893c">getOriginalPDFCov3D</a> (<a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> &cov6x6) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Retrieves the 6x6 covariance of the original PDF in <img class="formulaInl" alt="$ [ x ~ y ~ z ~ yaw ~ pitch ~ roll ] $" src="form_78.png"/>. <a href="#aac1343b9e1de1d2fae603a47d8b4893c"></a><br/></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_random_sampler.html#abec0c00e1f28e5d7b8f0f8eb8cb719fb">clear</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Clear internal pdf. <a href="#abec0c00e1f28e5d7b8f0f8eb8cb719fb"></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_random_sampler.html#aea0e2ef5a34fe29ba90057876410fedc">do_sample_2D</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &p) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used internally: sample from m_pdf2D. <a href="#aea0e2ef5a34fe29ba90057876410fedc"></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_random_sampler.html#af62d24e4b30454e37eb30079ce4c278c">do_sample_3D</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &p) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used internally: sample from m_pdf3D. <a href="#af62d24e4b30454e37eb30079ce4c278c"></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.html">CPosePDF</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a2c44712b8dd6fe2d743e5fabfe15d6dd">m_pdf2D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A local copy of the PDF. <a href="#a2c44712b8dd6fe2d743e5fabfe15d6dd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html">CPose3DPDF</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a307d311cf8f72e2fc472c6a80575ca3d">m_pdf3D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A local copy of the PDF. <a href="#a307d311cf8f72e2fc472c6a80575ca3d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a36c77ecd14b9d7bc2117dfd937655176">m_fastdraw_gauss_Z3</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1math.html#a69ac788617e87d06107cd7a32a1352b7">CMatrixDouble66</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a1f9b5aa4379ba458589653f723f2bc6a">m_fastdraw_gauss_Z6</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a30ed3bf4b6f03d15a4626e4e4ee85988">m_fastdraw_gauss_M_2D</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a54ae005633faa3bdb3bbe867a435a460">m_fastdraw_gauss_M_3D</a></td></tr>
</table>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="acb60dc5467ee5160150cb9e445c8c191"></a><!-- doxytag: member="mrpt::poses::CPoseRandomSampler::CPoseRandomSampler" ref="acb60dc5467ee5160150cb9e445c8c191" args="()" -->
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<td class="memname">mrpt::poses::CPoseRandomSampler::CPoseRandomSampler </td>
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<p>Default constructor. </p>
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<a class="anchor" id="a320dc3d1f0906db355b24de010931376"></a><!-- doxytag: member="mrpt::poses::CPoseRandomSampler::~CPoseRandomSampler" ref="a320dc3d1f0906db355b24de010931376" args="()" -->
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<td class="memname">mrpt::poses::CPoseRandomSampler::~CPoseRandomSampler </td>
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<p>Destructor. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="abec0c00e1f28e5d7b8f0f8eb8cb719fb"></a><!-- doxytag: member="mrpt::poses::CPoseRandomSampler::clear" ref="abec0c00e1f28e5d7b8f0f8eb8cb719fb" args="()" -->
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<td class="memname">void mrpt::poses::CPoseRandomSampler::clear </td>
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<td><code> [protected]</code></td>
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<p>Clear internal pdf. </p>
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<a class="anchor" id="aea0e2ef5a34fe29ba90057876410fedc"></a><!-- doxytag: member="mrpt::poses::CPoseRandomSampler::do_sample_2D" ref="aea0e2ef5a34fe29ba90057876410fedc" args="(CPose2D &p) const " -->
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<td class="memname">void mrpt::poses::CPoseRandomSampler::do_sample_2D </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>p</em></td><td>)</td>
<td> const<code> [protected]</code></td>
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<p>Used internally: sample from m_pdf2D. </p>
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<a class="anchor" id="af62d24e4b30454e37eb30079ce4c278c"></a><!-- doxytag: member="mrpt::poses::CPoseRandomSampler::do_sample_3D" ref="af62d24e4b30454e37eb30079ce4c278c" args="(CPose3D &p) const " -->
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<td class="memname">void mrpt::poses::CPoseRandomSampler::do_sample_3D </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"><em>p</em></td><td>)</td>
<td> const<code> [protected]</code></td>
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<p>Used internally: sample from m_pdf3D. </p>
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<a class="anchor" id="a43d3445245f46160f358d84ae97cc165"></a><!-- doxytag: member="mrpt::poses::CPoseRandomSampler::drawSample" ref="a43d3445245f46160f358d84ae97cc165" args="(CPose2D &p) const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a>& mrpt::poses::CPoseRandomSampler::drawSample </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>p</em></td><td>)</td>
<td> const</td>
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<p>Generate a new sample from the selected PDF. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>A reference to the same object passed as argument. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#abf0f1ac3faab2b9d6878c083db84e54a" title="This method must be called to select the PDF from which to draw samples.">setPosePDF</a> </dd></dl>
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<a class="anchor" id="a205a5ceac3545512bf0d915a6c25287b"></a><!-- doxytag: member="mrpt::poses::CPoseRandomSampler::drawSample" ref="a205a5ceac3545512bf0d915a6c25287b" args="(CPose3D &p) const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a>& mrpt::poses::CPoseRandomSampler::drawSample </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"><em>p</em></td><td>)</td>
<td> const</td>
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<p>Generate a new sample from the selected PDF. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>A reference to the same object passed as argument. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#abf0f1ac3faab2b9d6878c083db84e54a" title="This method must be called to select the PDF from which to draw samples.">setPosePDF</a> </dd></dl>
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<a class="anchor" id="af5d1db4e5e55774e64ffe98a30929912"></a><!-- doxytag: member="mrpt::poses::CPoseRandomSampler::getOriginalPDFCov2D" ref="af5d1db4e5e55774e64ffe98a30929912" args="(CMatrixDouble33 &cov3x3) const " -->
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<td class="memname">void mrpt::poses::CPoseRandomSampler::getOriginalPDFCov2D </td>
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<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> & </td>
<td class="paramname"><em>cov3x3</em></td><td>)</td>
<td> const</td>
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<p>Retrieves the 3x3 covariance of the original PDF in <img class="formulaInl" alt="$ [ x ~ y ~ \phi ] $" src="form_77.png"/>. </p>
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<a class="anchor" id="a4225a1da5c0b9ec0fefa924d7e9ca093"></a><!-- doxytag: member="mrpt::poses::CPoseRandomSampler::getOriginalPDFCov2D" ref="a4225a1da5c0b9ec0fefa924d7e9ca093" args="(CMatrixDouble &cov3x3) const " -->
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<td class="memname">void mrpt::poses::CPoseRandomSampler::getOriginalPDFCov2D </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a3814c2b868f059d6a7ab0d8ecd2311d6">CMatrixDouble</a> & </td>
<td class="paramname"><em>cov3x3</em></td><td>)</td>
<td> const<code> [inline]</code></td>
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<p>Retrieves the 3x3 covariance of the original PDF in <img class="formulaInl" alt="$ [ x ~ y ~ \phi ] $" src="form_77.png"/>. </p>
<p>Definition at line <a class="el" href="_c_pose_random_sampler_8h_source.html#l00134">134</a> of file <a class="el" href="_c_pose_random_sampler_8h_source.html">CPoseRandomSampler.h</a>.</p>
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<a class="anchor" id="ab5d68b39fbd86eeb4e42c915b0572d70"></a><!-- doxytag: member="mrpt::poses::CPoseRandomSampler::getOriginalPDFCov3D" ref="ab5d68b39fbd86eeb4e42c915b0572d70" args="(CMatrixDouble66 &cov6x6) const " -->
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<td class="memname">void mrpt::poses::CPoseRandomSampler::getOriginalPDFCov3D </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a69ac788617e87d06107cd7a32a1352b7">CMatrixDouble66</a> & </td>
<td class="paramname"><em>cov6x6</em></td><td>)</td>
<td> const</td>
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<p>Retrieves the 6x6 covariance of the original PDF in <img class="formulaInl" alt="$ [ x ~ y ~ z ~ yaw ~ pitch ~ roll ] $" src="form_78.png"/>. </p>
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<a class="anchor" id="aac1343b9e1de1d2fae603a47d8b4893c"></a><!-- doxytag: member="mrpt::poses::CPoseRandomSampler::getOriginalPDFCov3D" ref="aac1343b9e1de1d2fae603a47d8b4893c" args="(CMatrixDouble &cov6x6) const " -->
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<td class="memname">void mrpt::poses::CPoseRandomSampler::getOriginalPDFCov3D </td>
<td>(</td>
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<td class="paramname"><em>cov6x6</em></td><td>)</td>
<td> const<code> [inline]</code></td>
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<p>Retrieves the 6x6 covariance of the original PDF in <img class="formulaInl" alt="$ [ x ~ y ~ z ~ yaw ~ pitch ~ roll ] $" src="form_78.png"/>. </p>
<p>Definition at line <a class="el" href="_c_pose_random_sampler_8h_source.html#l00144">144</a> of file <a class="el" href="_c_pose_random_sampler_8h_source.html">CPoseRandomSampler.h</a>.</p>
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<a class="anchor" id="a16211105ce3a881bd2ce57371e319a3f"></a><!-- doxytag: member="mrpt::poses::CPoseRandomSampler::getSamplingMean2D" ref="a16211105ce3a881bd2ce57371e319a3f" args="(CPose2D &out_mean) const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a>& mrpt::poses::CPoseRandomSampler::getSamplingMean2D </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>out_mean</em></td><td>)</td>
<td> const</td>
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<p>If the object has been loaded with setPosePDF this method returns the 2D pose mean samples will be drawn around. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>A reference to the argument </dd></dl>
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<a class="anchor" id="a354af4079e564b5fe714167377bfc38e"></a><!-- doxytag: member="mrpt::poses::CPoseRandomSampler::getSamplingMean3D" ref="a354af4079e564b5fe714167377bfc38e" args="(CPose3D &out_mean) const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a>& mrpt::poses::CPoseRandomSampler::getSamplingMean3D </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"><em>out_mean</em></td><td>)</td>
<td> const</td>
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<p>If the object has been loaded with setPosePDF this method returns the 3D pose mean samples will be drawn around. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>A reference to the argument </dd></dl>
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<a class="anchor" id="a6d6ea08c74a3a52ca3aaa5137a72dd1d"></a><!-- doxytag: member="mrpt::poses::CPoseRandomSampler::isPrepared" ref="a6d6ea08c74a3a52ca3aaa5137a72dd1d" args="() const " -->
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<td class="memname">bool mrpt::poses::CPoseRandomSampler::isPrepared </td>
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<p>Return true if samples can be generated, which only requires a previous call to setPosePDF. </p>
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<a class="anchor" id="abf0f1ac3faab2b9d6878c083db84e54a"></a><!-- doxytag: member="mrpt::poses::CPoseRandomSampler::setPosePDF" ref="abf0f1ac3faab2b9d6878c083db84e54a" args="(const CPosePDF *pdf)" -->
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<td class="memname">void mrpt::poses::CPoseRandomSampler::setPosePDF </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html">CPosePDF</a> * </td>
<td class="paramname"><em>pdf</em></td><td>)</td>
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<p>This method must be called to select the PDF from which to draw samples. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a43d3445245f46160f358d84ae97cc165" title="Generate a new sample from the selected PDF.">drawSample</a> </dd></dl>
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<a class="anchor" id="adef38aec1a41ec6a4231647f5eb345d4"></a><!-- doxytag: member="mrpt::poses::CPoseRandomSampler::setPosePDF" ref="adef38aec1a41ec6a4231647f5eb345d4" args="(const CPosePDFPtr &pdf)" -->
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<td class="memname">void mrpt::poses::CPoseRandomSampler::setPosePDF </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1poses_1_1_c_pose_p_d_f_ptr.html">CPosePDFPtr</a> & </td>
<td class="paramname"><em>pdf</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>This method must be called to select the PDF from which to draw samples. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a43d3445245f46160f358d84ae97cc165" title="Generate a new sample from the selected PDF.">drawSample</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_pose_random_sampler_8h_source.html#l00087">87</a> of file <a class="el" href="_c_pose_random_sampler_8h_source.html">CPoseRandomSampler.h</a>.</p>
<p>References <a class="el" href="_c_pose_random_sampler_8h_source.html#l00087">setPosePDF()</a>, and <a class="el" href="_c_pose_p_d_f_8h_source.html#l00044">mrpt::poses::CPosePDFPtr::pointer()</a>.</p>
<p>Referenced by <a class="el" href="_c_pose_random_sampler_8h_source.html#l00087">setPosePDF()</a>.</p>
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<a class="anchor" id="a5e12878050c3f3994f389ad8cd12c666"></a><!-- doxytag: member="mrpt::poses::CPoseRandomSampler::setPosePDF" ref="a5e12878050c3f3994f389ad8cd12c666" args="(const CPosePDF &pdf)" -->
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<td class="memname">void mrpt::poses::CPoseRandomSampler::setPosePDF </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html">CPosePDF</a> & </td>
<td class="paramname"><em>pdf</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>This method must be called to select the PDF from which to draw samples. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a43d3445245f46160f358d84ae97cc165" title="Generate a new sample from the selected PDF.">drawSample</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_pose_random_sampler_8h_source.html#l00092">92</a> of file <a class="el" href="_c_pose_random_sampler_8h_source.html">CPoseRandomSampler.h</a>.</p>
<p>References <a class="el" href="_c_pose_random_sampler_8h_source.html#l00092">setPosePDF()</a>.</p>
<p>Referenced by <a class="el" href="_c_pose_random_sampler_8h_source.html#l00092">setPosePDF()</a>.</p>
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<a class="anchor" id="a6314eaa4d5bf6ffaa4a1b6869106ae8e"></a><!-- doxytag: member="mrpt::poses::CPoseRandomSampler::setPosePDF" ref="a6314eaa4d5bf6ffaa4a1b6869106ae8e" args="(const CPose3DPDF *pdf)" -->
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<td class="memname">void mrpt::poses::CPoseRandomSampler::setPosePDF </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html">CPose3DPDF</a> * </td>
<td class="paramname"><em>pdf</em></td><td>)</td>
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<p>This method must be called to select the PDF from which to draw samples. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a43d3445245f46160f358d84ae97cc165" title="Generate a new sample from the selected PDF.">drawSample</a> </dd></dl>
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<a class="anchor" id="a940459f37d1bb6e17c67ab80861db6c2"></a><!-- doxytag: member="mrpt::poses::CPoseRandomSampler::setPosePDF" ref="a940459f37d1bb6e17c67ab80861db6c2" args="(const CPose3DPDFPtr &pdf)" -->
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<td class="memname">void mrpt::poses::CPoseRandomSampler::setPosePDF </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html">CPose3DPDFPtr</a> & </td>
<td class="paramname"><em>pdf</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>This method must be called to select the PDF from which to draw samples. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a43d3445245f46160f358d84ae97cc165" title="Generate a new sample from the selected PDF.">drawSample</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_pose_random_sampler_8h_source.html#l00102">102</a> of file <a class="el" href="_c_pose_random_sampler_8h_source.html">CPoseRandomSampler.h</a>.</p>
<p>References <a class="el" href="_c_pose_random_sampler_8h_source.html#l00102">setPosePDF()</a>, and <a class="el" href="_c_pose3_d_p_d_f_8h_source.html#l00044">mrpt::poses::CPose3DPDFPtr::pointer()</a>.</p>
<p>Referenced by <a class="el" href="_c_pose_random_sampler_8h_source.html#l00102">setPosePDF()</a>.</p>
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<a class="anchor" id="ab1d1cc59e5e5c3b2978517f1e28bd36d"></a><!-- doxytag: member="mrpt::poses::CPoseRandomSampler::setPosePDF" ref="ab1d1cc59e5e5c3b2978517f1e28bd36d" args="(const CPose3DPDF &pdf)" -->
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<td class="memname">void mrpt::poses::CPoseRandomSampler::setPosePDF </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html">CPose3DPDF</a> & </td>
<td class="paramname"><em>pdf</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>This method must be called to select the PDF from which to draw samples. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a43d3445245f46160f358d84ae97cc165" title="Generate a new sample from the selected PDF.">drawSample</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_pose_random_sampler_8h_source.html#l00107">107</a> of file <a class="el" href="_c_pose_random_sampler_8h_source.html">CPoseRandomSampler.h</a>.</p>
<p>References <a class="el" href="_c_pose_random_sampler_8h_source.html#l00107">setPosePDF()</a>.</p>
<p>Referenced by <a class="el" href="_c_pose_random_sampler_8h_source.html#l00107">setPosePDF()</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a30ed3bf4b6f03d15a4626e4e4ee85988"></a><!-- doxytag: member="mrpt::poses::CPoseRandomSampler::m_fastdraw_gauss_M_2D" ref="a30ed3bf4b6f03d15a4626e4e4ee85988" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> <a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a30ed3bf4b6f03d15a4626e4e4ee85988">mrpt::poses::CPoseRandomSampler::m_fastdraw_gauss_M_2D</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_pose_random_sampler_8h_source.html#l00064">64</a> of file <a class="el" href="_c_pose_random_sampler_8h_source.html">CPoseRandomSampler.h</a>.</p>
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<a class="anchor" id="a54ae005633faa3bdb3bbe867a435a460"></a><!-- doxytag: member="mrpt::poses::CPoseRandomSampler::m_fastdraw_gauss_M_3D" ref="a54ae005633faa3bdb3bbe867a435a460" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> <a class="el" href="classmrpt_1_1poses_1_1_c_pose_random_sampler.html#a54ae005633faa3bdb3bbe867a435a460">mrpt::poses::CPoseRandomSampler::m_fastdraw_gauss_M_3D</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_pose_random_sampler_8h_source.html#l00065">65</a> of file <a class="el" href="_c_pose_random_sampler_8h_source.html">CPoseRandomSampler.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_pose_random_sampler_8h_source.html#l00062">62</a> of file <a class="el" href="_c_pose_random_sampler_8h_source.html">CPoseRandomSampler.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_pose_random_sampler_8h_source.html#l00063">63</a> of file <a class="el" href="_c_pose_random_sampler_8h_source.html">CPoseRandomSampler.h</a>.</p>
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<p>A local copy of the PDF. </p>
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<p>A local copy of the PDF. </p>
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