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<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
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<a href="#pub-types">Public Types</a> |
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<div class="title">mrpt::slam::CBeacon Class Reference<div class="ingroups"><a class="el" href="group__mrpt__maps__grp.html">[mrpt-maps]</a></div></div> </div>
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<!-- doxytag: class="mrpt::slam::CBeacon" --><!-- doxytag: inherits="mrpt::poses::CPointPDF" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions. </p>
<p>This class is used for storage within the class <a class="el" href="classmrpt_1_1slam_1_1_c_beacon_map.html" title="A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian, or Sum of Gaussians (SOG) representation (for range-only SLAM).">CBeaconMap</a>. The class implements the same methods than the interface "CPointPDF", and invoking them actually becomes a mapping into the methods of the current PDF representation of the beacon, selectable by means of "m_typePDF" </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_beacon_map.html" title="A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian, or Sum of Gaussians (SOG) representation (for range-only SLAM).">CBeaconMap</a>, CPointPDFSOG </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_beacon_8h_source.html">mrpt/slam/CBeacon.h</a>></code></p>
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Inheritance diagram for mrpt::slam::CBeacon:</div>
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<div class="center"><img src="classmrpt_1_1slam_1_1_c_beacon__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_beacon_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_beacon_inherit__map" id="mrpt_1_1slam_1_1_c_beacon_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html" title="Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x..." alt="" coords="814,29,981,56"/><area shape="rect" id="node4" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT..." alt="" coords="504,5,669,32"/><area shape="rect" id="node6" href="classmrpt_1_1utils_1_1_c_object.html" title="The virtual base class of all MRPT classes with a unified RTTI system." alt="" coords="65,5,201,32"/><area shape="rect" id="node8" href="classmrpt_1_1utils_1_1_c_probability_density_function.html" title="mrpt::utils::CProbabilityDensityFunction\< CPoint3D, 3 \>" alt="" coords="411,56,762,83"/><area shape="rect" id="node10" href="classmrpt_1_1utils_1_1_c_probability_density_function.html" title="A generic template for probability density distributions (PDFs)." alt="" coords="6,56,261,83"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1slam_1_1_c_beacon-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a7c3e15ab411676512c646686b37ec4d1">TTypePDF</a> { <a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a7c3e15ab411676512c646686b37ec4d1ac7351bed77086930d80dc83cf313c9aa">pdfMonteCarlo</a> = 0,
<a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a7c3e15ab411676512c646686b37ec4d1a89a7a33e68cd3c162e57181e28af145c">pdfGauss</a>,
<a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a7c3e15ab411676512c646686b37ec4d1a9208ebb961070c9e5b6ac6f739326863">pdfSOG</a>
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">See m_typePDF. <a href="classmrpt_1_1slam_1_1_c_beacon.html#a7c3e15ab411676512c646686b37ec4d1">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef int64_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a8ee2d42606200f1c4cece3520a60cbe7">TBeaconID</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The type for the IDs of landmarks. <a href="#a8ee2d42606200f1c4cece3520a60cbe7"></a><br/></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_point_p_d_f.html#adc2cdea527fa36d391c678e4485e3a1fa5dd6916895ffef4491f202f8d6839bb1">is_3D_val</a> = 1
}</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_point_p_d_f.html#a863a1bda75e5bd233aaa2219eaa7a22cad0cefc23184600ef2ce537e641938598">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_1slam_1_1_c_beacon.html#ae77f64d683694781c9c7204e6fe664a2">CBeacon</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor. <a href="#ae77f64d683694781c9c7204e6fe664a2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a4629049fe41ff2923a582bb3d42cd326">~CBeacon</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Virtual destructor. <a href="#a4629049fe41ff2923a582bb3d42cd326"></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_1slam_1_1_c_beacon.html#a15208b24f03b2474e0f84294761e062b">getMean</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> &mean_point) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an estimate of the point, (the mean, or mathematical expectation of the PDF). <a href="#a15208b24f03b2474e0f84294761e062b"></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_1slam_1_1_c_beacon.html#acc761bedc2755120c6720f11f2b654f6">getCovarianceAndMean</a> (<a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> &cov, <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> &mean_point) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns an estimate of the point covariance matrix (3x3 cov matrix) and the mean, both at once. <a href="#acc761bedc2755120c6720f11f2b654f6"></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_1slam_1_1_c_beacon.html#ad12f04d4e4d84b5a8efec295f3d8d78f">copyFrom</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html">CPointPDF</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="#ad12f04d4e4d84b5a8efec295f3d8d78f"></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_1slam_1_1_c_beacon.html#a8e58d05da7442e64c8004d979923644f">saveToTextFile</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &file) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save PDF's particles to a text file. <a href="#a8e58d05da7442e64c8004d979923644f"></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_1slam_1_1_c_beacon.html#a095ef6b542d5a9f891fb0573a2e16e75">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="#a095ef6b542d5a9f891fb0573a2e16e75"></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_1slam_1_1_c_beacon.html#a5756cc36f326649b4241a29ab3a88bb0">getAs3DObject</a> (<a class="el" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">mrpt::opengl::CSetOfObjectsPtr</a> &outObj) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Saves a 3D representation of the beacon into a given OpenGL scene. <a href="#a5756cc36f326649b4241a29ab3a88bb0"></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_1slam_1_1_c_beacon.html#a42463a90044acc9a1f351ae0a1aeac0d">getAsMatlabDrawCommands</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_string_list.html">utils::CStringList</a> &out_Str) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gets a set of MATLAB commands which draw the current state of the beacon: <a href="#a42463a90044acc9a1f351ae0a1aeac0d"></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_1slam_1_1_c_beacon.html#af1fdbcb805da20eff82505858d239f7d">drawSingleSample</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> &outSample) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draw a sample from the pdf. <a href="#af1fdbcb805da20eff82505858d239f7d"></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_1slam_1_1_c_beacon.html#a55f12fa36df92b9113da7f4f4728ac12">bayesianFusion</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html">CPointPDF</a> &p1, const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html">CPointPDF</a> &p2, const double &minMahalanobisDistToDrop=0)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!) <a href="#a55f12fa36df92b9113da7f4f4728ac12"></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_1slam_1_1_c_beacon.html#a8e7cd0383affa3ac4c9393ea5b6faefa">generateObservationModelDistribution</a> (const float &sensedRange, <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_s_o_g.html">CPointPDFSOG</a> &outPDF, const <a class="el" href="classmrpt_1_1slam_1_1_c_beacon_map.html">CBeaconMap</a> *myBeaconMap, const <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> &sensorPntOnRobot, const <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> &centerPoint=<a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a>(0, 0, 0), const float &maxDistanceFromCenter=0) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Compute the observation model p(z_t|x_t) for a given observation (range value), and return it as an approximate SOG. <a href="#a8e7cd0383affa3ac4c9393ea5b6faefa"></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_point_p_d_f.html#ac8a691da1b29b401d4440d173e25f7a8">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="#ac8a691da1b29b401d4440d173e25f7a8"></a><br/></td></tr>
<tr><td class="memTemplParams" colspan="2">template<class OPENGL_SETOFOBJECTSPTR , class OPENGL_SETOFOBJECTS > </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_point_p_d_f.html#afe846555a245630e84314f1a32ee79cb">getAs3DObject</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a 3D representation of this PDF. <a href="#afe846555a245630e84314f1a32ee79cb"></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">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aa437cf2c11cb0e937e851a0f498a4fb2">drawManySamples</a> (size_t N, <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> > &outSamples) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. <a href="#aa437cf2c11cb0e937e851a0f498a4fb2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a311648912f182acf9fc0896208492216">getCovarianceEntropy</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Compute the entropy of the estimated covariance matrix. <a href="#a311648912f182acf9fc0896208492216"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a7932b5975150005b66bcb0de4c043bc3">generateRingSOG</a> (const float &sensedRange, <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_s_o_g.html">CPointPDFSOG</a> &outPDF, const <a class="el" href="classmrpt_1_1slam_1_1_c_beacon_map.html">CBeaconMap</a> *myBeaconMap, const <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> &sensorPnt, const <a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> *covarianceCompositionToAdd=NULL, bool clearPreviousContentsOutPDF=true, const <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> &centerPoint=<a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a>(0, 0, 0), const float &maxDistanceFromCenter=0)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This static method returns a SOG with ring-shape (or as a 3D sphere) that can be used to initialize a beacon if observed the first time. <a href="#a7932b5975150005b66bcb0de4c043bc3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#ae1aece8c459ffd8eab83ea191791a7e2">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_point_p_d_f.html#affffb868a8f2d8e928b7e8d8cad73594">is_PDF</a> ()</td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a7c3e15ab411676512c646686b37ec4d1">TTypePDF</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#ae711dc8659aeeb30163570435225f194">m_typePDF</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Which one of the different 3D point PDF is currently used in this object: montecarlo, gaussian, or a sum of gaussians. <a href="#ae711dc8659aeeb30163570435225f194"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html">CPointPDFParticles</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a873c6f2a1713cbfc0cd2a1e23497950a">m_locationMC</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The individual PDF, if m_typePDF=pdfMonteCarlo (publicly accesible for ease of use, but the CPointPDF interface is also implemented in <a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html" title="The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions...">CBeacon</a>). <a href="#a873c6f2a1713cbfc0cd2a1e23497950a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html">CPointPDFGaussian</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a915013d91c5b571e2233a000092684ff">m_locationGauss</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The individual PDF, if m_typePDF=pdfGauss (publicly accesible for ease of use, but the CPointPDF interface is also implemented in <a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html" title="The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions...">CBeacon</a>). <a href="#a915013d91c5b571e2233a000092684ff"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_s_o_g.html">CPointPDFSOG</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#ac531d156b61242ad29d5c1c70bf17aae">m_locationSOG</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The individual PDF, if m_typePDF=pdfSOG (publicly accesible for ease of use, but the CPointPDF interface is also implemented in <a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html" title="The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions...">CBeacon</a>). <a href="#ac531d156b61242ad29d5c1c70bf17aae"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a8ee2d42606200f1c4cece3520a60cbe7">TBeaconID</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a80783de1fbb24b0fabf32ec4a9adf399">m_ID</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">An ID for the landmark (see details next...) This ID was introduced in the version 3 of this class (21/NOV/2006), and its aim is to provide a way for easily establishing correspondences between landmarks detected in sequential image frames. <a href="#a80783de1fbb24b0fabf32ec4a9adf399"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-attribs"></a>
Static Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">classCObject</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a77a06347b68aa3c08de63c790d88eb12">state_length</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). <a href="#a77a06347b68aa3c08de63c790d88eb12"></a><br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">RTTI stuff</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">classCSerializable</a></td></tr>
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Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a0b6b801e67bca3d8e0d355e7035f8013">writeToStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &out, int *getVersion) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. <a href="#a0b6b801e67bca3d8e0d355e7035f8013"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a73ba83035a64939cdc3aa1c0dfed23ec">readFromStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, int version)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. <a href="#a73ba83035a64939cdc3aa1c0dfed23ec"></a><br/></td></tr>
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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_point_p_d_f.html#a837349901839932fb122a36074583dcb">classCPointPDF</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_point_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::utils::CStream</a></td></tr>
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RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1slam_1_1_c_beacon_ptr.html">CBeaconPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#ad0501bb134aede5779a8ff0ac0bac2e5">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_1slam_1_1_c_beacon.html#aa0e7fd8602b8207c1b1cf4d1ecf7d785">_init_CBeacon</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_1slam_1_1_c_beacon.html#a924ac9157ae2e00dea0c7e6ccce6a2c5">classCBeacon</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_1slam_1_1_c_beacon.html#a187a1b063dd9d72da63b01b0b87ead96">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_1slam_1_1_c_beacon.html#a8ec100e68b6a0726877bb76acd17de30">_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_1slam_1_1_c_beacon.html#a1ab0e0ea48dea0ed0fa9e47d460ba77a">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="#a1ab0e0ea48dea0ed0fa9e47d460ba77a"></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_1slam_1_1_c_beacon.html#a8c5aa5059603c4457fef60eb8fdb1ecf">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="#a8c5aa5059603c4457fef60eb8fdb1ecf"></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_1slam_1_1_c_beacon.html#ac314b395c2ea43f2eaaf570380ef6c5b">CreateObject</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1slam_1_1_c_beacon_ptr.html">CBeaconPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a7ef09515bde6d083816c969c846539ac">Create</a> ()</td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="ad0501bb134aede5779a8ff0ac0bac2e5"></a><!-- doxytag: member="mrpt::slam::CBeacon::SmartPtr" ref="ad0501bb134aede5779a8ff0ac0bac2e5" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1slam_1_1_c_beacon_ptr.html">CBeaconPtr</a> <a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#ad0501bb134aede5779a8ff0ac0bac2e5">mrpt::slam::CBeacon::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_beacon_8h_source.html#l00065">65</a> of file <a class="el" href="_c_beacon_8h_source.html">CBeacon.h</a>.</p>
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<td class="memname">typedef int64_t <a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a8ee2d42606200f1c4cece3520a60cbe7">mrpt::slam::CBeacon::TBeaconID</a></td>
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<p>The type for the IDs of landmarks. </p>
<p>Definition at line <a class="el" href="_c_beacon_8h_source.html#l00070">70</a> of file <a class="el" href="_c_beacon_8h_source.html">CBeacon.h</a>.</p>
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<a class="anchor" id="ab4d442c6713a2aaac04cf79bee93c251"></a><!-- doxytag: member="mrpt::slam::CBeacon::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="adc2cdea527fa36d391c678e4485e3a1f"></a><!-- doxytag: member="mrpt::slam::CBeacon::@17" ref="adc2cdea527fa36d391c678e4485e3a1f" 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="adc2cdea527fa36d391c678e4485e3a1fa5dd6916895ffef4491f202f8d6839bb1"></a><!-- doxytag: member="is_3D_val" ref="adc2cdea527fa36d391c678e4485e3a1fa5dd6916895ffef4491f202f8d6839bb1" args="" -->is_3D_val</em> </td><td>
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<p>Definition at line <a class="el" href="_c_point_p_d_f_8h_source.html#l00078">78</a> of file <a class="el" href="_c_point_p_d_f_8h_source.html">CPointPDF.h</a>.</p>
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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="a863a1bda75e5bd233aaa2219eaa7a22cad0cefc23184600ef2ce537e641938598"></a><!-- doxytag: member="is_PDF_val" ref="a863a1bda75e5bd233aaa2219eaa7a22cad0cefc23184600ef2ce537e641938598" args="" -->is_PDF_val</em> </td><td>
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<p>Definition at line <a class="el" href="_c_point_p_d_f_8h_source.html#l00080">80</a> of file <a class="el" href="_c_point_p_d_f_8h_source.html">CPointPDF.h</a>.</p>
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<a class="anchor" id="a7c3e15ab411676512c646686b37ec4d1"></a><!-- doxytag: member="mrpt::slam::CBeacon::TTypePDF" ref="a7c3e15ab411676512c646686b37ec4d1" args="" -->
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<td class="memname">enum <a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a7c3e15ab411676512c646686b37ec4d1">mrpt::slam::CBeacon::TTypePDF</a></td>
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<p>See m_typePDF. </p>
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a7c3e15ab411676512c646686b37ec4d1ac7351bed77086930d80dc83cf313c9aa"></a><!-- doxytag: member="pdfMonteCarlo" ref="a7c3e15ab411676512c646686b37ec4d1ac7351bed77086930d80dc83cf313c9aa" args="" -->pdfMonteCarlo</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a7c3e15ab411676512c646686b37ec4d1a89a7a33e68cd3c162e57181e28af145c"></a><!-- doxytag: member="pdfGauss" ref="a7c3e15ab411676512c646686b37ec4d1a89a7a33e68cd3c162e57181e28af145c" args="" -->pdfGauss</em> </td><td>
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<tr><td valign="top"><em><a class="anchor" id="a7c3e15ab411676512c646686b37ec4d1a9208ebb961070c9e5b6ac6f739326863"></a><!-- doxytag: member="pdfSOG" ref="a7c3e15ab411676512c646686b37ec4d1a9208ebb961070c9e5b6ac6f739326863" args="" -->pdfSOG</em> </td><td>
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</dd>
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<p>Definition at line <a class="el" href="_c_beacon_8h_source.html#l00074">74</a> of file <a class="el" href="_c_beacon_8h_source.html">CBeacon.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="ae77f64d683694781c9c7204e6fe664a2"></a><!-- doxytag: member="mrpt::slam::CBeacon::CBeacon" ref="ae77f64d683694781c9c7204e6fe664a2" args="()" -->
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<td class="memname">mrpt::slam::CBeacon::CBeacon </td>
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<p>Default constructor. </p>
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<a class="anchor" id="a4629049fe41ff2923a582bb3d42cd326"></a><!-- doxytag: member="mrpt::slam::CBeacon::~CBeacon" ref="a4629049fe41ff2923a582bb3d42cd326" args="()" -->
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<td class="memname">virtual mrpt::slam::CBeacon::~CBeacon </td>
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<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Virtual destructor. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a8ec100e68b6a0726877bb76acd17de30"></a><!-- doxytag: member="mrpt::slam::CBeacon::_GetBaseClass" ref="a8ec100e68b6a0726877bb76acd17de30" 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::slam::CBeacon::_GetBaseClass </td>
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<p>Reimplemented from <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#a7ef50e03fcc75c1a10320875609d2a41">mrpt::poses::CPointPDF</a>.</p>
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<a class="anchor" id="a55f12fa36df92b9113da7f4f4728ac12"></a><!-- doxytag: member="mrpt::slam::CBeacon::bayesianFusion" ref="a55f12fa36df92b9113da7f4f4728ac12" args="(const CPointPDF &p1, const CPointPDF &p2, const double &minMahalanobisDistToDrop=0)" -->
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<td class="memname">void mrpt::slam::CBeacon::bayesianFusion </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html">CPointPDF</a> & </td>
<td class="paramname"><em>p1</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html">CPointPDF</a> & </td>
<td class="paramname"><em>p2</em>, </td>
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<td class="paramtype">const double & </td>
<td class="paramname"><em>minMahalanobisDistToDrop</em> = <code>0</code> </td>
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<td>)</td>
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<p>Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!) </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">p1</td><td>The first distribution to fuse </td></tr>
<tr><td class="paramname">p2</td><td>The second distribution to fuse </td></tr>
<tr><td class="paramname">minMahalanobisDistToDrop</td><td>If set to different of 0, the result of very separate Gaussian modes (that will result in negligible components) in SOGs will be dropped to reduce the number of modes in the output. </td></tr>
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<p>Implements <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#a065f29ccaa7c5a698a8abd1eed356789">mrpt::poses::CPointPDF</a>.</p>
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<a class="anchor" id="a095ef6b542d5a9f891fb0573a2e16e75"></a><!-- doxytag: member="mrpt::slam::CBeacon::changeCoordinatesReference" ref="a095ef6b542d5a9f891fb0573a2e16e75" args="(const CPose3D &newReferenceBase)" -->
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<td class="memname">void mrpt::slam::CBeacon::changeCoordinatesReference </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> & </td>
<td class="paramname"><em>newReferenceBase</em></td><td>)</td>
<td><code> [virtual]</code></td>
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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< CPoint3D, 3 ></a>.</p>
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<a class="anchor" id="a9ef7857a0b36059c078e195a0a65ac00"></a><!-- doxytag: member="mrpt::slam::CBeacon::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="ad12f04d4e4d84b5a8efec295f3d8d78f"></a><!-- doxytag: member="mrpt::slam::CBeacon::copyFrom" ref="ad12f04d4e4d84b5a8efec295f3d8d78f" args="(const CPointPDF &o)" -->
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<td class="memname">void mrpt::slam::CBeacon::copyFrom </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html">CPointPDF</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_point_p_d_f.html#a979b682b56588533c637e56fe18c1064">mrpt::poses::CPointPDF</a>.</p>
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<td class="memname">static <a class="el" href="structmrpt_1_1slam_1_1_c_beacon_ptr.html">CBeaconPtr</a> mrpt::slam::CBeacon::Create </td>
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<td><code> [static]</code></td>
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<td class="memname">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::slam::CBeacon::CreateObject </td>
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<td class="paramname"></td><td>)</td>
<td><code> [static]</code></td>
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<a class="anchor" id="aa437cf2c11cb0e937e851a0f498a4fb2"></a><!-- doxytag: member="mrpt::slam::CBeacon::drawManySamples" ref="aa437cf2c11cb0e937e851a0f498a4fb2" args="(size_t N, std::vector< vector_double > &outSamples) const " -->
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<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::drawManySamples </td>
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<td class="paramtype">size_t </td>
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<td class="paramtype"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> > & </td>
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<p>Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. </p>
<p>This base method just call N times to drawSingleSample, but derived classes should implemented optimized method for each particular PDF. </p>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00126">126</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
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<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::drawSingleSample </td>
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<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="af1fdbcb805da20eff82505858d239f7d"></a><!-- doxytag: member="mrpt::slam::CBeacon::drawSingleSample" ref="af1fdbcb805da20eff82505858d239f7d" args="(CPoint3D &outSample) const " -->
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<td class="memname">void mrpt::slam::CBeacon::drawSingleSample </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> & </td>
<td class="paramname"><em>outSample</em></td><td>)</td>
<td> const</td>
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<p>Draw a sample from the pdf. </p>
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<a class="anchor" id="a8c5aa5059603c4457fef60eb8fdb1ecf"></a><!-- doxytag: member="mrpt::slam::CBeacon::duplicate" ref="a8c5aa5059603c4457fef60eb8fdb1ecf" 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::slam::CBeacon::duplicate </td>
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<p>Returns a copy of the object, indepently of its class. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#aa1070e173c5f7e307b09c53f1fd256e2">mrpt::utils::CObject</a>.</p>
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<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="a8e7cd0383affa3ac4c9393ea5b6faefa"></a><!-- doxytag: member="mrpt::slam::CBeacon::generateObservationModelDistribution" ref="a8e7cd0383affa3ac4c9393ea5b6faefa" args="(const float &sensedRange, CPointPDFSOG &outPDF, const CBeaconMap *myBeaconMap, const CPoint3D &sensorPntOnRobot, const CPoint3D &centerPoint=CPoint3D(0, 0, 0), const float &maxDistanceFromCenter=0) const " -->
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<td class="memname">void mrpt::slam::CBeacon::generateObservationModelDistribution </td>
<td>(</td>
<td class="paramtype">const float & </td>
<td class="paramname"><em>sensedRange</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_s_o_g.html">CPointPDFSOG</a> & </td>
<td class="paramname"><em>outPDF</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_beacon_map.html">CBeaconMap</a> * </td>
<td class="paramname"><em>myBeaconMap</em>, </td>
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<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> & </td>
<td class="paramname"><em>sensorPntOnRobot</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> & </td>
<td class="paramname"><em>centerPoint</em> = <code><a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a>(0, 0, 0)</code>, </td>
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<td class="paramname"><em>maxDistanceFromCenter</em> = <code>0</code> </td>
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<p>Compute the observation model p(z_t|x_t) for a given observation (range value), and return it as an approximate SOG. </p>
<p>Note that if the beacon is a SOG itself, the number of gaussian modes will be square. As a speed-up, if a "center point"+"maxDistanceFromCenter" is supplied (maxDistanceFromCenter!=0), those modes farther than this sphere will be discarded. Parameters such as the stdSigma of the sensor are gathered from "myBeaconMap" The result is one "ring" for each Gaussian mode that represent the beacon position in this object. The position of the sensor on the robot is used to shift the resulting densities such as they represent the position of the robot, not the sensor. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_beacon_map.html#af92218198ccb90daf261693a0edc00fe">CBeaconMap::insertionOptions</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a7932b5975150005b66bcb0de4c043bc3" title="This static method returns a SOG with ring-shape (or as a 3D sphere) that can be used to initialize a...">generateRingSOG</a> </dd></dl>
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<a class="anchor" id="a7932b5975150005b66bcb0de4c043bc3"></a><!-- doxytag: member="mrpt::slam::CBeacon::generateRingSOG" ref="a7932b5975150005b66bcb0de4c043bc3" args="(const float &sensedRange, CPointPDFSOG &outPDF, const CBeaconMap *myBeaconMap, const CPoint3D &sensorPnt, const CMatrixDouble33 *covarianceCompositionToAdd=NULL, bool clearPreviousContentsOutPDF=true, const CPoint3D &centerPoint=CPoint3D(0, 0, 0), const float &maxDistanceFromCenter=0)" -->
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<td class="memname">static void mrpt::slam::CBeacon::generateRingSOG </td>
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<td class="paramtype">const float & </td>
<td class="paramname"><em>sensedRange</em>, </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_s_o_g.html">CPointPDFSOG</a> & </td>
<td class="paramname"><em>outPDF</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_beacon_map.html">CBeaconMap</a> * </td>
<td class="paramname"><em>myBeaconMap</em>, </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> & </td>
<td class="paramname"><em>sensorPnt</em>, </td>
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<td class="paramtype">const <a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> * </td>
<td class="paramname"><em>covarianceCompositionToAdd</em> = <code>NULL</code>, </td>
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<td class="paramtype">bool </td>
<td class="paramname"><em>clearPreviousContentsOutPDF</em> = <code>true</code>, </td>
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<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> & </td>
<td class="paramname"><em>centerPoint</em> = <code><a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a>(0, 0, 0)</code>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const float & </td>
<td class="paramname"><em>maxDistanceFromCenter</em> = <code>0</code> </td>
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<td></td>
<td>)</td>
<td></td><td><code> [static]</code></td>
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<p>This static method returns a SOG with ring-shape (or as a 3D sphere) that can be used to initialize a beacon if observed the first time. </p>
<p>sensorPnt is the center of the ring/sphere, i.e. the absolute position of the range sensor. If clearPreviousContentsOutPDF=false, the SOG modes will be added to the current contents of outPDF If the 3x3 matrix covarianceCompositionToAdd is provided, it will be add to every Gaussian (to model the composition of uncertainty). </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a8e7cd0383affa3ac4c9393ea5b6faefa" title="Compute the observation model p(z_t|x_t) for a given observation (range value), and return it as an a...">generateObservationModelDistribution</a> </dd></dl>
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<a class="anchor" id="ac8a691da1b29b401d4440d173e25f7a8"></a><!-- doxytag: member="mrpt::slam::CBeacon::getAs3DObject" ref="ac8a691da1b29b401d4440d173e25f7a8" args="(OPENGL_SETOFOBJECTSPTR &out_obj) const " -->
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<td class="memname">void mrpt::poses::CPointPDF::getAs3DObject </td>
<td>(</td>
<td class="paramtype">OPENGL_SETOFOBJECTSPTR & </td>
<td class="paramname"><em>out_obj</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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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_point_p_d_f_8h_source.html#l00087">87</a> of file <a class="el" href="_c_point_p_d_f_8h_source.html">CPointPDF.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="afe846555a245630e84314f1a32ee79cb"></a><!-- doxytag: member="mrpt::slam::CBeacon::getAs3DObject" ref="afe846555a245630e84314f1a32ee79cb" args="() const " -->
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template<class OPENGL_SETOFOBJECTSPTR , class OPENGL_SETOFOBJECTS > </div>
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<td class="memname">OPENGL_SETOFOBJECTSPTR mrpt::poses::CPointPDF::getAs3DObject </td>
<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_point_p_d_f_8h_source.html#l00096">96</a> of file <a class="el" href="_c_point_p_d_f_8h_source.html">CPointPDF.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="a5756cc36f326649b4241a29ab3a88bb0"></a><!-- doxytag: member="mrpt::slam::CBeacon::getAs3DObject" ref="a5756cc36f326649b4241a29ab3a88bb0" args="(mrpt::opengl::CSetOfObjectsPtr &outObj) const " -->
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<td class="memname">void mrpt::slam::CBeacon::getAs3DObject </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">mrpt::opengl::CSetOfObjectsPtr</a> & </td>
<td class="paramname"><em>outObj</em></td><td>)</td>
<td> const</td>
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<p>Saves a 3D representation of the beacon into a given OpenGL scene. </p>
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<a class="anchor" id="a42463a90044acc9a1f351ae0a1aeac0d"></a><!-- doxytag: member="mrpt::slam::CBeacon::getAsMatlabDrawCommands" ref="a42463a90044acc9a1f351ae0a1aeac0d" args="(utils::CStringList &out_Str) const " -->
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<td class="memname">void mrpt::slam::CBeacon::getAsMatlabDrawCommands </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_string_list.html">utils::CStringList</a> & </td>
<td class="paramname"><em>out_Str</em></td><td>)</td>
<td> const</td>
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<p>Gets a set of MATLAB commands which draw the current state of the beacon: </p>
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<a class="anchor" id="a76a1c94c45614ec2ab8f4b209d126745"></a><!-- doxytag: member="mrpt::slam::CBeacon::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>
<td> const<code> [inline, inherited]</code></td>
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<p>Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getMean, getCovarianceAndMean </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00089">89</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
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<a class="anchor" id="a9ac7187b742c121c3338cb767b7994ba"></a><!-- doxytag: member="mrpt::slam::CBeacon::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>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixFixedNumeric</a>< double, STATE_LEN, STATE_LEN > & </td>
<td class="paramname"><em>cov</em></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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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>
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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>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getMean </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>
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<a class="anchor" id="aef4a7a5d215e4c7e855286ad4a4d1bbe"></a><!-- doxytag: member="mrpt::slam::CBeacon::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>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">TDATA & </td>
<td class="paramname"><em>mean_point</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [pure virtual, inherited]</code></td>
</tr>
</table>
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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="acc761bedc2755120c6720f11f2b654f6"></a><!-- doxytag: member="mrpt::slam::CBeacon::getCovarianceAndMean" ref="acc761bedc2755120c6720f11f2b654f6" args="(CMatrixDouble33 &cov, CPoint3D &mean_point) const " -->
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<td class="memname">void mrpt::slam::CBeacon::getCovarianceAndMean </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> & </td>
<td class="paramname"><em>cov</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> & </td>
<td class="paramname"><em>mean_point</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const</td>
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<div class="memdoc">
<p>Returns an estimate of the point 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_1slam_1_1_c_beacon.html#a15208b24f03b2474e0f84294761e062b" title="Returns an estimate of the point, (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::slam::CBeacon::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>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">TDATA & </td>
<td class="paramname"><em>mean_point</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [inline, inherited]</code></td>
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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>
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<a class="anchor" id="a311648912f182acf9fc0896208492216"></a><!-- doxytag: member="mrpt::slam::CBeacon::getCovarianceEntropy" ref="a311648912f182acf9fc0896208492216" args="() const " -->
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<td class="memname">double mrpt::utils::CProbabilityDensityFunction::getCovarianceEntropy </td>
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<td> const<code> [inline, inherited]</code></td>
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<p>Compute the entropy of the estimated covariance matrix. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a href="http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy">http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00145">145</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
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<a class="anchor" id="afc168fcbcba4191a0e64fc2a3b7c4c78"></a><!-- doxytag: member="mrpt::slam::CBeacon::getMean" ref="afc168fcbcba4191a0e64fc2a3b7c4c78" args="(TDATA &mean_point) const =0" -->
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<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::getMean </td>
<td>(</td>
<td class="paramtype">TDATA & </td>
<td class="paramname"><em>mean_point</em></td><td>)</td>
<td> const<code> [pure virtual, inherited]</code></td>
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<p>Returns the mean, or mathematical expectation of the probability density distribution (PDF). </p>
<dl class="see"><dt><b>See also:</b></dt><dd>getCovarianceAndMean </dd></dl>
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<a class="anchor" id="a15208b24f03b2474e0f84294761e062b"></a><!-- doxytag: member="mrpt::slam::CBeacon::getMean" ref="a15208b24f03b2474e0f84294761e062b" args="(CPoint3D &mean_point) const " -->
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<td class="memname">void mrpt::slam::CBeacon::getMean </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_point3_d.html">CPoint3D</a> & </td>
<td class="paramname"><em>mean_point</em></td><td>)</td>
<td> const</td>
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<p>Returns an estimate of the point, (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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<a class="anchor" id="ad6c0c9844ac63db9c793652e4619c549"></a><!-- doxytag: member="mrpt::slam::CBeacon::getMeanVal" ref="ad6c0c9844ac63db9c793652e4619c549" args="() const " -->
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<td class="memname">TDATA mrpt::utils::CProbabilityDensityFunction::getMeanVal </td>
<td>(</td>
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<td> const<code> [inline, inherited]</code></td>
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<p>Returns the mean, or mathematical expectation of the probability density distribution (PDF). </p>
<dl class="see"><dt><b>See also:</b></dt><dd>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>
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<a class="anchor" id="a1ab0e0ea48dea0ed0fa9e47d460ba77a"></a><!-- doxytag: member="mrpt::slam::CBeacon::GetRuntimeClass" ref="a1ab0e0ea48dea0ed0fa9e47d460ba77a" 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::slam::CBeacon::GetRuntimeClass </td>
<td>(</td>
<td class="paramname"></td><td>)</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_point_p_d_f.html#a48133c6b7a483c1d5f4c96b005be22c2">mrpt::poses::CPointPDF</a>.</p>
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<a class="anchor" id="ae1aece8c459ffd8eab83ea191791a7e2"></a><!-- doxytag: member="mrpt::slam::CBeacon::is_3D" ref="ae1aece8c459ffd8eab83ea191791a7e2" args="()" -->
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<td class="memname">static bool mrpt::poses::CPointPDF::is_3D </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, static, inherited]</code></td>
</tr>
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<p>Definition at line <a class="el" href="_c_point_p_d_f_8h_source.html#l00079">79</a> of file <a class="el" href="_c_point_p_d_f_8h_source.html">CPointPDF.h</a>.</p>
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<a class="anchor" id="affffb868a8f2d8e928b7e8d8cad73594"></a><!-- doxytag: member="mrpt::slam::CBeacon::is_PDF" ref="affffb868a8f2d8e928b7e8d8cad73594" args="()" -->
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<td class="memname">static bool mrpt::poses::CPointPDF::is_PDF </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_point_p_d_f_8h_source.html#l00081">81</a> of file <a class="el" href="_c_point_p_d_f_8h_source.html">CPointPDF.h</a>.</p>
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<a class="anchor" id="a73ba83035a64939cdc3aa1c0dfed23ec"></a><!-- doxytag: member="mrpt::slam::CBeacon::readFromStream" ref="a73ba83035a64939cdc3aa1c0dfed23ec" args="(mrpt::utils::CStream &in, int version)=0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::readFromStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>in</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>version</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">in</td><td>The input binary stream where the object data must read from. </td></tr>
<tr><td class="paramname">version</td><td>The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d" title="Reads a block of bytes from the stream into Buffer On any error, or if ZERO bytes are read...">CStream::ReadBuffer</a> </td></tr>
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</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a0194e57ec48c1dfc6aa00c23d3409143">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a12db95e8c32d48d2d2483936dec516a7">mrpt::math::CMatrix</a>.</p>
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<a class="anchor" id="a8e58d05da7442e64c8004d979923644f"></a><!-- doxytag: member="mrpt::slam::CBeacon::saveToTextFile" ref="a8e58d05da7442e64c8004d979923644f" args="(const std::string &file) const " -->
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<td class="memname">void mrpt::slam::CBeacon::saveToTextFile </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>file</em></td><td>)</td>
<td> const<code> [virtual]</code></td>
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<p>Save PDF's particles to a text file. </p>
<p>See derived classes for more information about the format of generated files. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#a960b9e93abcf834b4bb5ce5f880b2570">mrpt::utils::CProbabilityDensityFunction< CPoint3D, 3 ></a>.</p>
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<a class="anchor" id="a0b6b801e67bca3d8e0d355e7035f8013"></a><!-- doxytag: member="mrpt::slam::CBeacon::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 class="paramtype">int * </td>
<td class="paramname"><em>getVersion</em> </td>
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<td>)</td>
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<p>Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. </p>
<p>This can not be used directly be users, instead use "stream << object;" for writing it to a stream. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out</td><td>The output binary stream where object must be dumped. </td></tr>
<tr><td class="paramname">getVersion</td><td>If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. </td></tr>
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<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a276005e7110c9de74ff3277b3f7bf621" title="Writes a block of bytes to the stream from Buffer.">CStream::WriteBuffer</a> </td></tr>
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<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::slam::CBeacon::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_point_p_d_f_8h_source.html#l00063">63</a> of file <a class="el" href="_c_point_p_d_f_8h_source.html">CPointPDF.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="aa0e7fd8602b8207c1b1cf4d1ecf7d785"></a><!-- doxytag: member="mrpt::slam::CBeacon::_init_CBeacon" ref="aa0e7fd8602b8207c1b1cf4d1ecf7d785" 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_1slam_1_1_c_beacon.html#aa0e7fd8602b8207c1b1cf4d1ecf7d785">mrpt::slam::CBeacon::_init_CBeacon</a><code> [static, protected]</code></td>
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<p>Definition at line <a class="el" href="_c_beacon_8h_source.html#l00065">65</a> of file <a class="el" href="_c_beacon_8h_source.html">CBeacon.h</a>.</p>
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<a class="anchor" id="a924ac9157ae2e00dea0c7e6ccce6a2c5"></a><!-- doxytag: member="mrpt::slam::CBeacon::classCBeacon" ref="a924ac9157ae2e00dea0c7e6ccce6a2c5" 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_1slam_1_1_c_beacon.html#a924ac9157ae2e00dea0c7e6ccce6a2c5">mrpt::slam::CBeacon::classCBeacon</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_beacon_8h_source.html#l00065">65</a> of file <a class="el" href="_c_beacon_8h_source.html">CBeacon.h</a>.</p>
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<a class="anchor" id="acb51e4dd811d62c2696aee449d0a4715"></a><!-- doxytag: member="mrpt::slam::CBeacon::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="a837349901839932fb122a36074583dcb"></a><!-- doxytag: member="mrpt::slam::CBeacon::classCPointPDF" ref="a837349901839932fb122a36074583dcb" 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_point_p_d_f.html#a837349901839932fb122a36074583dcb">mrpt::poses::CPointPDF::classCPointPDF</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_point_p_d_f_8h_source.html#l00063">63</a> of file <a class="el" href="_c_point_p_d_f_8h_source.html">CPointPDF.h</a>.</p>
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<a class="anchor" id="a28ec2a03d277a8469b8ecfc81892afdf"></a><!-- doxytag: member="mrpt::slam::CBeacon::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="a187a1b063dd9d72da63b01b0b87ead96"></a><!-- doxytag: member="mrpt::slam::CBeacon::classinfo" ref="a187a1b063dd9d72da63b01b0b87ead96" 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_1slam_1_1_c_beacon.html#a187a1b063dd9d72da63b01b0b87ead96">mrpt::slam::CBeacon::classinfo</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_beacon_8h_source.html#l00065">65</a> of file <a class="el" href="_c_beacon_8h_source.html">CBeacon.h</a>.</p>
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<a class="anchor" id="a80783de1fbb24b0fabf32ec4a9adf399"></a><!-- doxytag: member="mrpt::slam::CBeacon::m_ID" ref="a80783de1fbb24b0fabf32ec4a9adf399" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a8ee2d42606200f1c4cece3520a60cbe7">TBeaconID</a> <a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a80783de1fbb24b0fabf32ec4a9adf399">mrpt::slam::CBeacon::m_ID</a></td>
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<p>An ID for the landmark (see details next...) This ID was introduced in the version 3 of this class (21/NOV/2006), and its aim is to provide a way for easily establishing correspondences between landmarks detected in sequential image frames. </p>
<p>Thus, the management of this field should be:</p>
<ul>
<li>In 'servers' (classes/modules/... that detect landmarks from images): A different ID must be assigned to every landmark (e.g. a sequential counter), BUT only in the case of being sure of the correspondence of one landmark with another one in the past (e.g. tracking).</li>
<li>In 'clients': This field can be ignored, but if it is used, the advantage is solving the correspondence between landmarks detected in consequentive instants of time: Two landmarks with the same ID <b>correspond</b> to the same physical feature, BUT it should not be expected the inverse to be always true.</li>
</ul>
<p>Note that this field is never fill out automatically, it must be set by the programmer if used. </p>
<p>Definition at line <a class="el" href="_c_beacon_8h_source.html#l00102">102</a> of file <a class="el" href="_c_beacon_8h_source.html">CBeacon.h</a>.</p>
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<a class="anchor" id="a915013d91c5b571e2233a000092684ff"></a><!-- doxytag: member="mrpt::slam::CBeacon::m_locationGauss" ref="a915013d91c5b571e2233a000092684ff" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html">CPointPDFGaussian</a> <a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a915013d91c5b571e2233a000092684ff">mrpt::slam::CBeacon::m_locationGauss</a></td>
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<p>The individual PDF, if m_typePDF=pdfGauss (publicly accesible for ease of use, but the CPointPDF interface is also implemented in <a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html" title="The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions...">CBeacon</a>). </p>
<p>Definition at line <a class="el" href="_c_beacon_8h_source.html#l00087">87</a> of file <a class="el" href="_c_beacon_8h_source.html">CBeacon.h</a>.</p>
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<a class="anchor" id="a873c6f2a1713cbfc0cd2a1e23497950a"></a><!-- doxytag: member="mrpt::slam::CBeacon::m_locationMC" ref="a873c6f2a1713cbfc0cd2a1e23497950a" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html">CPointPDFParticles</a> <a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a873c6f2a1713cbfc0cd2a1e23497950a">mrpt::slam::CBeacon::m_locationMC</a></td>
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<p>The individual PDF, if m_typePDF=pdfMonteCarlo (publicly accesible for ease of use, but the CPointPDF interface is also implemented in <a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html" title="The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions...">CBeacon</a>). </p>
<p>Definition at line <a class="el" href="_c_beacon_8h_source.html#l00083">83</a> of file <a class="el" href="_c_beacon_8h_source.html">CBeacon.h</a>.</p>
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<a class="anchor" id="ac531d156b61242ad29d5c1c70bf17aae"></a><!-- doxytag: member="mrpt::slam::CBeacon::m_locationSOG" ref="ac531d156b61242ad29d5c1c70bf17aae" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_s_o_g.html">CPointPDFSOG</a> <a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#ac531d156b61242ad29d5c1c70bf17aae">mrpt::slam::CBeacon::m_locationSOG</a></td>
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<p>The individual PDF, if m_typePDF=pdfSOG (publicly accesible for ease of use, but the CPointPDF interface is also implemented in <a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html" title="The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions...">CBeacon</a>). </p>
<p>Definition at line <a class="el" href="_c_beacon_8h_source.html#l00091">91</a> of file <a class="el" href="_c_beacon_8h_source.html">CBeacon.h</a>.</p>
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<a class="anchor" id="ae711dc8659aeeb30163570435225f194"></a><!-- doxytag: member="mrpt::slam::CBeacon::m_typePDF" ref="ae711dc8659aeeb30163570435225f194" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a7c3e15ab411676512c646686b37ec4d1">TTypePDF</a> <a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#ae711dc8659aeeb30163570435225f194">mrpt::slam::CBeacon::m_typePDF</a></td>
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<p>Which one of the different 3D point PDF is currently used in this object: montecarlo, gaussian, or a sum of gaussians. </p>
<dl class="see"><dt><b>See also:</b></dt><dd>m_location </dd></dl>
<p>Definition at line <a class="el" href="_c_beacon_8h_source.html#l00079">79</a> of file <a class="el" href="_c_beacon_8h_source.html">CBeacon.h</a>.</p>
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<a class="anchor" id="a77a06347b68aa3c08de63c790d88eb12"></a><!-- doxytag: member="mrpt::slam::CBeacon::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>
