Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion ![$ p(\mathbf{x}) = [x ~ y ~ z ~ qr ~ qx ~ qy ~ qz]^\top $](form_67.png)
.
This class implements that PDF using a mono-modal Gaussian distribution. See mrpt::poses::CPose3DQuatPDF for more details, or mrpt::poses::CPose3DPDF for classes based on Euler angles instead.
Uncertainty of pose composition operations ( 
) is implemented in the methods "CPose3DQuatPDFGaussian::operator+=" and "CPose3DQuatPDFGaussian::jacobiansPoseComposition".
For further details on implemented methods and the theory behind them, see this report.
#include <mrpt/poses/CPose3DQuatPDFGaussian.h>
Public Types | |
| typedef TDATA | type_value |
| The type of the state the PDF represents. | |
Public Member Functions | |
| CPose3DQuatPDFGaussian () | |
| Default constructor - set all values to zero. | |
| CPose3DQuatPDFGaussian (TConstructorFlags_Quaternions constructor_dummy_param) | |
| Constructor which left all the member uninitialized, for using when speed is critical - as argument, use UNINITIALIZED_QUATERNION. | |
| CPose3DQuatPDFGaussian (const CPose3DQuat &init_Mean) | |
| Constructor from a default mean value, covariance equals to zero. | |
| CPose3DQuatPDFGaussian (const CPose3DQuat &init_Mean, const CMatrixDouble77 &init_Cov) | |
| Constructor with mean and covariance. | |
| CPose3DQuatPDFGaussian (const CPosePDFGaussian &o) | |
| Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables). | |
| CPose3DQuatPDFGaussian (const CPose3DPDFGaussian &o) | |
| Constructor from an equivalent Gaussian in Euler angles representation. | |
| const CPose3DQuat & | getPoseMean () const |
| CPose3DQuat & | getPoseMean () |
| void | getMean (CPose3DQuat &mean_pose) const |
| Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). | |
| void | getCovarianceAndMean (CMatrixDouble77 &cov, CPose3DQuat &mean_point) const |
| Returns an estimate of the pose covariance matrix (7x7 cov matrix) and the mean, both at once. | |
| void | copyFrom (const CPose3DQuatPDF &o) |
| Copy operator, translating if necesary (for example, between particles and gaussian representations) | |
| void | copyFrom (const CPosePDF &o) |
| Copy operator, translating if necesary (for example, between particles and gaussian representations) | |
| void | copyFrom (const CPose3DPDFGaussian &o) |
| Copy operator, translating if necesary (for example, between particles and gaussian representations) | |
| void | saveToTextFile (const std::string &file) const |
| Save the PDF to a text file, containing the 3D pose in the first line (x y z qr qx qy qz), then the covariance matrix in the next 7 lines. | |
| void | changeCoordinatesReference (const CPose3DQuat &newReferenceBase) |
| This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. | |
| void | changeCoordinatesReference (const CPose3D &newReferenceBase) |
| This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. | |
| void | drawSingleSample (CPose3DQuat &outPart) const |
| Draws a single sample from the distribution. | |
| void | drawManySamples (size_t N, std::vector< vector_double > &outSamples) const |
| Draws a number of samples from the distribution, and saves as a list of 1x7 vectors, where each row contains a (x,y,z,qr,qx,qy,qz) datum. | |
| void | bayesianFusion (const CPose3DQuatPDF &p1, const CPose3DQuatPDF &p2) |
| Bayesian fusion of two points gauss. | |
| void | inverse (CPose3DQuatPDF &o) const |
| Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. | |
| CPose3DQuatPDFGaussian | operator- () const |
| Unary - operator, returns the PDF of the inverse pose. | |
| void | operator+= (const CPose3DQuat &Ap) |
| Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). | |
| void | operator+= (const CPose3DQuatPDFGaussian &Ap) |
| Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ). | |
| void | operator-= (const CPose3DQuatPDFGaussian &Ap) |
| Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated). | |
| double | evaluatePDF (const CPose3DQuat &x) const |
| Evaluates the PDF at a given point. | |
| double | evaluateNormalizedPDF (const CPose3DQuat &x) const |
| Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]. | |
| double | mahalanobisDistanceTo (const CPose3DQuatPDFGaussian &theOther) |
| Computes the Mahalanobis distance between the centers of two Gaussians. | |
| template<class OPENGL_SETOFOBJECTSPTR > | |
| void | getAs3DObject (OPENGL_SETOFOBJECTSPTR &out_obj) const |
| Returns a 3D representation of this PDF. | |
| template<class OPENGL_SETOFOBJECTSPTR > | |
| OPENGL_SETOFOBJECTSPTR | getAs3DObject () const |
| Returns a 3D representation of this PDF. | |
| mrpt::utils::CObjectPtr | duplicateGetSmartPtr () const |
| 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). | |
| CObject * | clone () const |
| Cloning interface for smart pointers. | |
| virtual void | getMean (TDATA &mean_point) const =0 |
| Returns the mean, or mathematical expectation of the probability density distribution (PDF). | |
| virtual void | getCovarianceAndMean (CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, TDATA &mean_point) const =0 |
| Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. | |
| void | getCovarianceDynAndMean (CMatrixDouble &cov, TDATA &mean_point) const |
| Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. | |
| TDATA | getMeanVal () const |
| Returns the mean, or mathematical expectation of the probability density distribution (PDF). | |
| void | getCovariance (CMatrixDouble &cov) const |
| Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) | |
| void | getCovariance (CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const |
| Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) | |
| CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > | getCovariance () const |
| Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) | |
| virtual void | drawSingleSample (TDATA &outPart) const =0 |
| Draws a single sample from the distribution. | |
| double | getCovarianceEntropy () const |
| Compute the entropy of the estimated covariance matrix. | |
Static Public Member Functions | |
| static void | jacobiansPoseComposition (const CPose3DQuat &x, const CPose3DQuat &u, CMatrixDouble77 &df_dx, CMatrixDouble77 &df_du, CPose3DQuat *out_x_oplus_u=NULL) |
| This static method computes the two Jacobians of a pose composition operation $f(x,u)= x u$. | |
| static CPose3DQuatPDF * | createFrom2D (const CPosePDF &o) |
| This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of CPose3DQuatPDF. | |
Public Attributes | |
| CPose3DQuat | mean |
| The mean value. | |
| CMatrixDouble77 | cov |
| The 7x7 covariance matrix. | |
Static Public Attributes | |
| static const mrpt::utils::TRuntimeClassId | classCObject |
| static const size_t | state_length |
| The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). | |
RTTI stuff | |
| static const mrpt::utils::TRuntimeClassId | classCSerializable |
Protected Member Functions | |
| void | assureSymmetry () |
| Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!) | |
| virtual void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0 |
| Introduces a pure virtual method responsible for writing to a CStream. | |
| virtual void | readFromStream (mrpt::utils::CStream &in, int version)=0 |
| Introduces a pure virtual method responsible for loading from a CStream 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. | |
RTTI stuff | |
| static const mrpt::utils::TRuntimeClassId | classCPose3DQuatPDF |
| class | mrpt::utils::CStream |
RTTI stuff | |
| typedef CPose3DQuatPDFGaussianPtr | SmartPtr |
| static mrpt::utils::CLASSINIT | _init_CPose3DQuatPDFGaussian |
| static mrpt::utils::TRuntimeClassId | classCPose3DQuatPDFGaussian |
| static const mrpt::utils::TRuntimeClassId * | classinfo |
| static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
| virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
| Returns information about the class of an object in runtime. | |
| virtual mrpt::utils::CObject * | duplicate () const |
| Returns a copy of the object, indepently of its class. | |
| static mrpt::utils::CObject * | CreateObject () |
| static CPose3DQuatPDFGaussianPtr | Create () |
A typedef for the associated smart pointer
Definition at line 61 of file CPose3DQuatPDFGaussian.h.
typedef TDATA mrpt::utils::CProbabilityDensityFunction::type_value [inherited] |
The type of the state the PDF represents.
Definition at line 54 of file CProbabilityDensityFunction.h.
| mrpt::poses::CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian | ( | ) |
Default constructor - set all values to zero.
| mrpt::poses::CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian | ( | TConstructorFlags_Quaternions | constructor_dummy_param | ) |
Constructor which left all the member uninitialized, for using when speed is critical - as argument, use UNINITIALIZED_QUATERNION.
| mrpt::poses::CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian | ( | const CPose3DQuat & | init_Mean | ) | [explicit] |
Constructor from a default mean value, covariance equals to zero.
| mrpt::poses::CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian | ( | const CPose3DQuat & | init_Mean, |
| const CMatrixDouble77 & | init_Cov | ||
| ) |
Constructor with mean and covariance.
| mrpt::poses::CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian | ( | const CPosePDFGaussian & | o | ) | [explicit] |
Constructor from a Gaussian 2D pose PDF (sets to 0 the missing variables).
| mrpt::poses::CPose3DQuatPDFGaussian::CPose3DQuatPDFGaussian | ( | const CPose3DPDFGaussian & | o | ) | [explicit] |
Constructor from an equivalent Gaussian in Euler angles representation.
| static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DQuatPDFGaussian::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::poses::CPose3DQuatPDF.
| void mrpt::poses::CPose3DQuatPDFGaussian::assureSymmetry | ( | ) | [protected] |
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)
| void mrpt::poses::CPose3DQuatPDFGaussian::bayesianFusion | ( | const CPose3DQuatPDF & | p1, |
| const CPose3DQuatPDF & | p2 | ||
| ) | [virtual] |
Bayesian fusion of two points gauss.
distributions, then save the result in this object. The process is as follows:
S = (S1-1 + S2-1)-1; x = S * ( S1-1*x1 + S2-1*x2 );
Implements mrpt::poses::CPose3DQuatPDF.
| void mrpt::poses::CPose3DQuatPDFGaussian::changeCoordinatesReference | ( | const CPose3DQuat & | newReferenceBase | ) |
This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf.
Result PDF substituted the currently stored one in the object.
| void mrpt::poses::CPose3DQuatPDFGaussian::changeCoordinatesReference | ( | const CPose3D & | newReferenceBase | ) | [virtual] |
This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf.
Result PDF substituted the currently stored one in the object.
Implements mrpt::utils::CProbabilityDensityFunction< CPose3DQuat, 7 >.
| CObject* mrpt::utils::CObject::clone | ( | ) | const [inline, inherited] |
Cloning interface for smart pointers.
Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.
| void mrpt::poses::CPose3DQuatPDFGaussian::copyFrom | ( | const CPose3DQuatPDF & | o | ) | [virtual] |
Copy operator, translating if necesary (for example, between particles and gaussian representations)
Implements mrpt::poses::CPose3DQuatPDF.
| void mrpt::poses::CPose3DQuatPDFGaussian::copyFrom | ( | const CPosePDF & | o | ) |
Copy operator, translating if necesary (for example, between particles and gaussian representations)
| void mrpt::poses::CPose3DQuatPDFGaussian::copyFrom | ( | const CPose3DPDFGaussian & | o | ) |
Copy operator, translating if necesary (for example, between particles and gaussian representations)
| static CPose3DQuatPDFGaussianPtr mrpt::poses::CPose3DQuatPDFGaussian::Create | ( | ) | [static] |
| static CPose3DQuatPDF* mrpt::poses::CPose3DQuatPDF::createFrom2D | ( | const CPosePDF & | o | ) | [static, inherited] |
This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of CPose3DQuatPDF.
This object must be deleted by the user when not required anymore.
| static mrpt::utils::CObject* mrpt::poses::CPose3DQuatPDFGaussian::CreateObject | ( | ) | [static] |
| void mrpt::poses::CPose3DQuatPDFGaussian::drawManySamples | ( | size_t | N, |
| std::vector< vector_double > & | outSamples | ||
| ) | const [virtual] |
Draws a number of samples from the distribution, and saves as a list of 1x7 vectors, where each row contains a (x,y,z,qr,qx,qy,qz) datum.
Reimplemented from mrpt::utils::CProbabilityDensityFunction< CPose3DQuat, 7 >.
| virtual void mrpt::utils::CProbabilityDensityFunction::drawSingleSample | ( | TDATA & | outPart | ) | const [pure virtual, inherited] |
Draws a single sample from the distribution.
| void mrpt::poses::CPose3DQuatPDFGaussian::drawSingleSample | ( | CPose3DQuat & | outPart | ) | const |
Draws a single sample from the distribution.
| virtual mrpt::utils::CObject* mrpt::poses::CPose3DQuatPDFGaussian::duplicate | ( | ) | const [virtual] |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
| mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr | ( | ) | const [inline, inherited] |
| double mrpt::poses::CPose3DQuatPDFGaussian::evaluateNormalizedPDF | ( | const CPose3DQuat & | x | ) | const |
Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].
| double mrpt::poses::CPose3DQuatPDFGaussian::evaluatePDF | ( | const CPose3DQuat & | x | ) | const |
Evaluates the PDF at a given point.
| void mrpt::poses::CPose3DQuatPDF::getAs3DObject | ( | OPENGL_SETOFOBJECTSPTR & | out_obj | ) | const [inline, inherited] |
Returns a 3D representation of this PDF.
Definition at line 92 of file CPose3DQuatPDF.h.
References mrpt::opengl::posePDF2opengl().
| OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DQuatPDF::getAs3DObject | ( | ) | const [inline, inherited] |
Returns a 3D representation of this PDF.
Definition at line 101 of file CPose3DQuatPDF.h.
References mrpt::opengl::posePDF2opengl().
| void mrpt::utils::CProbabilityDensityFunction::getCovariance | ( | CMatrixDouble & | cov | ) | const [inline, inherited] |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 89 of file CProbabilityDensityFunction.h.
| void mrpt::utils::CProbabilityDensityFunction::getCovariance | ( | CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > & | cov | ) | const [inline, inherited] |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 98 of file CProbabilityDensityFunction.h.
| CMatrixFixedNumeric<double,STATE_LEN,STATE_LEN> mrpt::utils::CProbabilityDensityFunction::getCovariance | ( | ) | const [inline, inherited] |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 107 of file CProbabilityDensityFunction.h.
| virtual void mrpt::utils::CProbabilityDensityFunction::getCovarianceAndMean | ( | CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > & | cov, |
| TDATA & | mean_point | ||
| ) | const [pure virtual, inherited] |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
| void mrpt::poses::CPose3DQuatPDFGaussian::getCovarianceAndMean | ( | CMatrixDouble77 & | cov, |
| CPose3DQuat & | mean_point | ||
| ) | const |
Returns an estimate of the pose covariance matrix (7x7 cov matrix) and the mean, both at once.
| void mrpt::utils::CProbabilityDensityFunction::getCovarianceDynAndMean | ( | CMatrixDouble & | cov, |
| TDATA & | mean_point | ||
| ) | const [inline, inherited] |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
Definition at line 69 of file CProbabilityDensityFunction.h.
| double mrpt::utils::CProbabilityDensityFunction::getCovarianceEntropy | ( | ) | const [inline, inherited] |
Compute the entropy of the estimated covariance matrix.
Definition at line 145 of file CProbabilityDensityFunction.h.
| virtual void mrpt::utils::CProbabilityDensityFunction::getMean | ( | TDATA & | mean_point | ) | const [pure virtual, inherited] |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
| void mrpt::poses::CPose3DQuatPDFGaussian::getMean | ( | CPose3DQuat & | mean_pose | ) | const |
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
| TDATA mrpt::utils::CProbabilityDensityFunction::getMeanVal | ( | ) | const [inline, inherited] |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Definition at line 79 of file CProbabilityDensityFunction.h.
| const CPose3DQuat& mrpt::poses::CPose3DQuatPDFGaussian::getPoseMean | ( | ) | const [inline] |
Definition at line 93 of file CPose3DQuatPDFGaussian.h.
References mean().
| CPose3DQuat& mrpt::poses::CPose3DQuatPDFGaussian::getPoseMean | ( | ) | [inline] |
Definition at line 94 of file CPose3DQuatPDFGaussian.h.
References mean().
| virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DQuatPDFGaussian::GetRuntimeClass | ( | ) | const [virtual] |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::poses::CPose3DQuatPDF.
| void mrpt::poses::CPose3DQuatPDFGaussian::inverse | ( | CPose3DQuatPDF & | o | ) | const [virtual] |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
Implements mrpt::poses::CPose3DQuatPDF.
| static void mrpt::poses::CPose3DQuatPDFGaussian::jacobiansPoseComposition | ( | const CPose3DQuat & | x, |
| const CPose3DQuat & | u, | ||
| CMatrixDouble77 & | df_dx, | ||
| CMatrixDouble77 & | df_du, | ||
| CPose3DQuat * | out_x_oplus_u = NULL |
||
| ) | [static] |
This static method computes the two Jacobians of a pose composition operation $f(x,u)= x u$.
| out_x_oplus_u | If set to !=NULL, the result of "x+u" will be stored here (it will be computed internally anyway). To see the mathematical derivation of the formulas, refer to the technical report here: |
| double mrpt::poses::CPose3DQuatPDFGaussian::mahalanobisDistanceTo | ( | const CPose3DQuatPDFGaussian & | theOther | ) |
Computes the Mahalanobis distance between the centers of two Gaussians.
The variables with a variance exactly equal to 0 are not taken into account in the process, but "infinity" is returned if the corresponding elements are not exactly equal.
| void mrpt::poses::CPose3DQuatPDFGaussian::operator+= | ( | const CPose3DQuat & | Ap | ) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).
| void mrpt::poses::CPose3DQuatPDFGaussian::operator+= | ( | const CPose3DQuatPDFGaussian & | Ap | ) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ).
| CPose3DQuatPDFGaussian mrpt::poses::CPose3DQuatPDFGaussian::operator- | ( | ) | const [inline] |
Unary - operator, returns the PDF of the inverse pose.
Definition at line 156 of file CPose3DQuatPDFGaussian.h.
References mrpt::math::UNINITIALIZED_QUATERNION.
| void mrpt::poses::CPose3DQuatPDFGaussian::operator-= | ( | const CPose3DQuatPDFGaussian & | Ap | ) |
Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated).
| virtual void mrpt::utils::CSerializable::readFromStream | ( | mrpt::utils::CStream & | in, |
| int | version | ||
| ) | [protected, pure virtual, inherited] |
Introduces a pure virtual method responsible for loading from a CStream 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.
| in | The input binary stream where the object data must read from. |
| version | The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. |
| std::exception | On any error, see CStream::ReadBuffer |
Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.
| void mrpt::poses::CPose3DQuatPDFGaussian::saveToTextFile | ( | const std::string & | file | ) | const [virtual] |
Save the PDF to a text file, containing the 3D pose in the first line (x y z qr qx qy qz), then the covariance matrix in the next 7 lines.
Implements mrpt::utils::CProbabilityDensityFunction< CPose3DQuat, 7 >.
| virtual void mrpt::utils::CSerializable::writeToStream | ( | mrpt::utils::CStream & | out, |
| int * | getVersion | ||
| ) | const [protected, pure virtual, inherited] |
Introduces a pure virtual method responsible for writing to a CStream.
This can not be used directly be users, instead use "stream << object;" for writing it to a stream.
| out | The output binary stream where object must be dumped. |
| getVersion | 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. |
| std::exception | On any error, see CStream::WriteBuffer |
Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.
friend class mrpt::utils::CStream [friend, inherited] |
Reimplemented from mrpt::utils::CSerializable.
Definition at line 66 of file CPose3DQuatPDF.h.
mrpt::utils::CLASSINIT mrpt::poses::CPose3DQuatPDFGaussian::_init_CPose3DQuatPDFGaussian [static, protected] |
Definition at line 61 of file CPose3DQuatPDFGaussian.h.
const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject [static, inherited] |
const mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DQuatPDF::classCPose3DQuatPDF [static, inherited] |
Definition at line 66 of file CPose3DQuatPDF.h.
mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DQuatPDFGaussian::classCPose3DQuatPDFGaussian [static] |
Definition at line 61 of file CPose3DQuatPDFGaussian.h.
const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable [static, inherited] |
Definition at line 56 of file CSerializable.h.
Definition at line 61 of file CPose3DQuatPDFGaussian.h.
The 7x7 covariance matrix.
Definition at line 91 of file CPose3DQuatPDFGaussian.h.
The mean value.
Definition at line 88 of file CPose3DQuatPDFGaussian.h.
const size_t mrpt::utils::CProbabilityDensityFunction::state_length [static, inherited] |
The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll).
Definition at line 53 of file CProbabilityDensityFunction.h.
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