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<li class="navelem"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html">CProbabilityDensityFunction</a> </li>
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<div class="title">mrpt::utils::CProbabilityDensityFunction Class Reference<div class="ingroups"><a class="el" href="group__mrpt__base__grp.html">[mrpt-base]</a></div></div> </div>
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<!-- doxytag: class="mrpt::utils::CProbabilityDensityFunction" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A generic template for probability density distributions (PDFs). </p>
<p>This template is used as base for many classes in <a class="el" href="namespacemrpt_1_1poses.html" title="Classes for 2D/3D geometry representation, both of single values and probability density distribution...">mrpt::poses</a> Any derived class must implement <em><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#afc168fcbcba4191a0e64fc2a3b7c4c78" title="Returns the mean, or mathematical expectation of the probability density distribution (PDF)...">getMean()</a></em> and a <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aef4a7a5d215e4c7e855286ad4a4d1bbe" title="Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean...">getCovarianceAndMean()</a>. Other methods such as <em><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#afc168fcbcba4191a0e64fc2a3b7c4c78" title="Returns the mean, or mathematical expectation of the probability density distribution (PDF)...">getMean()</a></em> or <em><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></em> are implemented here for convenience. </p>
<dl class="see"><dt><b>See also:</b></dt><dd>mprt::poses::CPosePDF, mprt::poses::CPose3DPDF, mprt::poses::CPointPDF </dd></dl>
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<p><code>#include <<a class="el" href="_c_probability_density_function_8h_source.html">mrpt/utils/CProbabilityDensityFunction.h</a>></code></p>
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Inheritance diagram for mrpt::utils::CProbabilityDensityFunction:</div>
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<div class="center"><img src="classmrpt_1_1utils_1_1_c_probability_density_function__inherit__graph.png" border="0" usemap="#mrpt_1_1utils_1_1_c_probability_density_function_inherit__map" alt="Inheritance graph"/></div>
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<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1utils_1_1_c_probability_density_function-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">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">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#a960b9e93abcf834b4bb5ce5f880b2570">saveToTextFile</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &file) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save PDF's particles to a text file. <a href="#a960b9e93abcf834b4bb5ce5f880b2570"></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">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aac79fa433163e2ffe0cb3c12d02e61ba">changeCoordinatesReference</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">mrpt::poses::CPose3D</a> &newReferenceBase)=0</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="#aac79fa433163e2ffe0cb3c12d02e61ba"></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-attribs"></a>
Static Public Attributes</h2></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> = STATE_LEN</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>
</table>
<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="ab4d442c6713a2aaac04cf79bee93c251"></a><!-- doxytag: member="mrpt::utils::CProbabilityDensityFunction::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></td>
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<div class="memdoc">
<p>The type of the state the PDF represents. </p>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00054">54</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="aac79fa433163e2ffe0cb3c12d02e61ba"></a><!-- doxytag: member="mrpt::utils::CProbabilityDensityFunction::changeCoordinatesReference" ref="aac79fa433163e2ffe0cb3c12d02e61ba" args="(const mrpt::poses::CPose3D &newReferenceBase)=0" -->
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<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::changeCoordinatesReference </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">mrpt::poses::CPose3D</a> & </td>
<td class="paramname"><em>newReferenceBase</em></td><td>)</td>
<td><code> [pure 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>Implemented in <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#a5fad24dec97cdea3252aefe55e18c9d0">mrpt::poses::CPosePDFSOG</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_s_o_g.html#ae778af6680a73361eff8ef9308e9c1c8">mrpt::poses::CPointPDFSOG</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#a9cb3826deac1a80140c31ea2f796c245">mrpt::poses::CPose3DPDFSOG</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_particles.html#a62d92dc0f976e778c06427a8f7caa716">mrpt::poses::CPosePDFParticles</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a095ef6b542d5a9f891fb0573a2e16e75">mrpt::slam::CBeacon</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#aa9d10e1c7019e6713857177c5320bb8b">mrpt::poses::CPose3DPDFGaussian</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#a59c0205aea68cf7a2a39b326030e5b80">mrpt::poses::CPose3DQuatPDFGaussian</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html#a3f9205a05b0a75b8055f084276ebb1ae">mrpt::poses::CPose3DPDFParticles</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian_inf.html#a8cb87f1f38714e8f2655edfeae7755af">mrpt::poses::CPose3DPDFGaussianInf</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#a86e0e701cfbfa3fd5b3d80e7586131a1">mrpt::poses::CPointPDFParticles</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#a9f7e7354bd6a19d0d4cf207860f87802">mrpt::poses::CPosePDFGaussianInf</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html#a475678cb8dd1fe147c986813ae374fe6">mrpt::poses::CPosePDFGaussian</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid.html#a0f6224ea68902073f214972fbadaccdc">mrpt::poses::CPosePDFGrid</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d_p_d_f_gaussian.html#abfc906d297bf385981d1baf5ed2d503d">mrpt::poses::CPoint2DPDFGaussian</a>, and <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a3bc1166fd0b684fa3ef6267df5b974c3">mrpt::poses::CPointPDFGaussian</a>.</p>
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<a class="anchor" id="aa437cf2c11cb0e937e851a0f498a4fb2"></a><!-- doxytag: member="mrpt::utils::CProbabilityDensityFunction::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"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> > & </td>
<td class="paramname"><em>outSamples</em> </td>
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<p>Draws a number of samples from the distribution, and saves as a list of 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>Reimplemented in <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#ad295ebe1240ebbd6d446d9d94863f388">mrpt::poses::CPosePDFSOG</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#a7982825c6d3862343c6b5d97c7bce050">mrpt::poses::CPose3DPDFSOG</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#a741d00424b8899a2a4eb094a4c266a09">mrpt::poses::CPosePDFGaussianInf</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html#af0665196eddc44a92d8d7a1b196bf77d">mrpt::poses::CPosePDFGaussian</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#aaff9b5c5d05a8d41dce6aec68505d08a">mrpt::poses::CPose3DPDFGaussian</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#add75ad35e3dbc6e8f5ed4215a8126f38">mrpt::poses::CPose3DQuatPDFGaussian</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html#af33f12350278b29b8292c10a313ef51d">mrpt::poses::CPose3DPDFParticles</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian_inf.html#a06e0b9f9f5b64ab49f64a38e0f587517">mrpt::poses::CPose3DPDFGaussianInf</a>, and <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid.html#a34a0f0f653d0520e4cca78e222fd8cfc">mrpt::poses::CPosePDFGrid</a>.</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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<a class="anchor" id="ae8879d10e9d7a6c94211dd0ffffc4c9d"></a><!-- doxytag: member="mrpt::utils::CProbabilityDensityFunction::drawSingleSample" ref="ae8879d10e9d7a6c94211dd0ffffc4c9d" args="(TDATA &outPart) const =0" -->
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<td class="memname">virtual void mrpt::utils::CProbabilityDensityFunction::drawSingleSample </td>
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<p>Draws a single sample from the distribution. </p>
<p>Referenced by <a class="el" href="_c_probability_density_function_8h_source.html#l00126">mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >::drawManySamples()</a>.</p>
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<a class="anchor" id="a76a1c94c45614ec2ab8f4b209d126745"></a><!-- doxytag: member="mrpt::utils::CProbabilityDensityFunction::getCovariance" ref="a76a1c94c45614ec2ab8f4b209d126745" args="(CMatrixDouble &cov) const " -->
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<td class="memname">void mrpt::utils::CProbabilityDensityFunction::getCovariance </td>
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<p>Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#afc168fcbcba4191a0e64fc2a3b7c4c78" title="Returns the mean, or mathematical expectation of the probability density distribution (PDF)...">getMean</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aef4a7a5d215e4c7e855286ad4a4d1bbe" title="Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean...">getCovarianceAndMean</a> </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::utils::CProbabilityDensityFunction::getCovariance" ref="a9ac7187b742c121c3338cb767b7994ba" args="(CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const " -->
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<td class="memname">void mrpt::utils::CProbabilityDensityFunction::getCovariance </td>
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<p>Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#afc168fcbcba4191a0e64fc2a3b7c4c78" title="Returns the mean, or mathematical expectation of the probability density distribution (PDF)...">getMean</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aef4a7a5d215e4c7e855286ad4a4d1bbe" title="Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean...">getCovarianceAndMean</a> </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>
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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><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#afc168fcbcba4191a0e64fc2a3b7c4c78" title="Returns the mean, or mathematical expectation of the probability density distribution (PDF)...">getMean</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00107">107</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
<p>Referenced by <a class="el" href="_c_probability_density_function_8h_source.html#l00145">mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >::getCovarianceEntropy()</a>.</p>
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<a class="anchor" id="aef4a7a5d215e4c7e855286ad4a4d1bbe"></a><!-- doxytag: member="mrpt::utils::CProbabilityDensityFunction::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>
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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><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#afc168fcbcba4191a0e64fc2a3b7c4c78" title="Returns the mean, or mathematical expectation of the probability density distribution (PDF)...">getMean</a> </dd></dl>
<p>Referenced by <a class="el" href="_c_probability_density_function_8h_source.html#l00069">mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >::getCovarianceDynAndMean()</a>, and <a class="el" href="_c_probability_density_function_8h_source.html#l00098">mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >::getCovariance()</a>.</p>
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<a class="anchor" id="a8a5db2a590d8fcd23408a3d8a8a1f76c"></a><!-- doxytag: member="mrpt::utils::CProbabilityDensityFunction::getCovarianceDynAndMean" ref="a8a5db2a590d8fcd23408a3d8a8a1f76c" args="(CMatrixDouble &cov, TDATA &mean_point) const " -->
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<td class="memname">void mrpt::utils::CProbabilityDensityFunction::getCovarianceDynAndMean </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><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#afc168fcbcba4191a0e64fc2a3b7c4c78" title="Returns the mean, or mathematical expectation of the probability density distribution (PDF)...">getMean</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_probability_density_function_8h_source.html#l00069">69</a> of file <a class="el" href="_c_probability_density_function_8h_source.html">CProbabilityDensityFunction.h</a>.</p>
<p>Referenced by <a class="el" href="_c_probability_density_function_8h_source.html#l00089">mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >::getCovariance()</a>.</p>
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<td class="memname">double mrpt::utils::CProbabilityDensityFunction::getCovarianceEntropy </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::utils::CProbabilityDensityFunction::getMean" ref="afc168fcbcba4191a0e64fc2a3b7c4c78" args="(TDATA &mean_point) const =0" -->
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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><a class="el" href="classmrpt_1_1utils_1_1_c_probability_density_function.html#aef4a7a5d215e4c7e855286ad4a4d1bbe" title="Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean...">getCovarianceAndMean</a> </dd></dl>
<p>Referenced by <a class="el" href="_c_probability_density_function_8h_source.html#l00079">mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >::getMeanVal()</a>.</p>
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<p>Returns the mean, or mathematical expectation of the probability density distribution (PDF). </p>
<dl class="see"><dt><b>See also:</b></dt><dd><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>
<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="a960b9e93abcf834b4bb5ce5f880b2570"></a><!-- doxytag: member="mrpt::utils::CProbabilityDensityFunction::saveToTextFile" ref="a960b9e93abcf834b4bb5ce5f880b2570" args="(const std::string &file) const =0" -->
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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>Implemented in <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_s_o_g.html#aab4d7fd25994729aac6e3baba5cd383c">mrpt::poses::CPosePDFSOG</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_s_o_g.html#a1a664d00c15497a85c0d0385db184741">mrpt::poses::CPointPDFSOG</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_s_o_g.html#a20efdde241a50a3a67faa835bd228f09">mrpt::poses::CPose3DPDFSOG</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_particles.html#a4f95ca099eec222c16f2b850af839005">mrpt::poses::CPosePDFParticles</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html#a8e58d05da7442e64c8004d979923644f">mrpt::slam::CBeacon</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html#a45f5f8d84b96ad19cd22227022fa6c5b">mrpt::poses::CPose3DPDFGaussian</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian_inf.html#a8f8ecf13fa3f1707aaa64d43374d80e9">mrpt::poses::CPose3DPDFGaussianInf</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html#a847f311f6701885163930974e1ab5df3">mrpt::poses::CPose3DQuatPDFGaussian</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_particles.html#ad74270e1cf6072787418f032ed71e080">mrpt::poses::CPointPDFParticles</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_particles.html#a35d9df096da31899f614eeca0152a094">mrpt::poses::CPose3DPDFParticles</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian_inf.html#a06cd0ebadc05111395af699b55d6babe">mrpt::poses::CPosePDFGaussianInf</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_gaussian.html#aab00bcd79443b62b7e4b5dfd885258a2">mrpt::poses::CPosePDFGaussian</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f_grid.html#ad1d062f97efcac0b604a85edf84cbf27">mrpt::poses::CPosePDFGrid</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d_p_d_f_gaussian.html#a39bc9a235b6a40cf4e8f2de7e6009e37">mrpt::poses::CPoint2DPDFGaussian</a>, and <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f_gaussian.html#a11016538e64e22dc65b564754bb79219">mrpt::poses::CPointPDFGaussian</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
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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> = STATE_LEN<code> [static]</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>
