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60 o <<
"Mean: " <<
mode.mean << std::endl
61 <<
"Covariance: " << std::endl
62 <<
mode.cov << std::endl
63 <<
"Log-weight: " <<
mode.log_w << std::endl;
127 void resize(
const size_t N);
138 void mergeModes(
double max_KLd = 0.5,
bool verbose =
false);
191 std::vector<mrpt::math::CVectorDouble>& outSamples)
const override;
210 const double& x_min,
const double& x_max,
const double& y_min,
211 const double& y_max,
const double& resolutionXY,
const double& phi,
219 const double minMahalanobisDistToDrop = 0)
override;
void drawManySamples(size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const override
Draws a number of samples from the distribution, and saves as a list of 1x3 vectors,...
mrpt::aligned_std_vector< TGaussianMode > CListGaussianModes
void clear()
Clear the list of modes.
friend std::ostream & operator<<(std::ostream &o, const TGaussianMode &mode)
const Scalar * const_iterator
CPosePDFSOG(size_t nModes=1)
Default constructor.
void getMostLikelyCovarianceAndMean(mrpt::math::CMatrixDouble33 &cov, CPose2D &mean_point) const
For the most likely Gaussian mode in the SOG, returns the pose covariance matrix (3x3 cov matrix) and...
void inverse(CPosePDF &o) const override
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
const_iterator end() const
void getCovarianceAndMean(mrpt::math::CMatrixDouble33 &cov, CPose2D &mean_point) const override
Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once.
const TGaussianMode & get(size_t i) const
Access to individual beacons.
TGaussianMode & get(size_t i)
Access to individual beacons.
void operator+=(const mrpt::poses::CPose2D &Ap)
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matri...
TGaussianMode & operator[](size_t i)
Access to individual beacons.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
void push_back(const TGaussianMode &m)
Inserts a copy of the given mode into the SOG.
void bayesianFusion(const CPosePDF &p1, const CPosePDF &p2, const double minMahalanobisDistToDrop=0) override
Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1...
void drawSingleSample(CPose2D &outPart) const override
Draws a single sample from the distribution.
iterator erase(iterator i)
#define ASSERT_(f)
Defines an assertion mechanism.
The struct for each mode:
Eigen::Matrix< typename MATRIX::Scalar, MATRIX::ColsAtCompileTime, MATRIX::ColsAtCompileTime > cov(const MATRIX &v)
Computes the covariance matrix from a list of samples in an NxM matrix, where each row is a sample,...
MRPT_MAKE_ALIGNED_OPERATOR_NEW
std::vector< T, mrpt::aligned_allocator_cpp11< T > > aligned_std_vector
const TGaussianMode & operator[](size_t i) const
Access to individual beacons.
A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle.
bool saveToTextFile(const std::string &file) const override
Save the density to a text file, with the following format: There is one row per Gaussian "mode",...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
CListGaussianModes m_modes
The list of SOG modes.
const CListGaussianModes & getSOGModes() const
void changeCoordinatesReference(const CPose3D &newReferenceBase) override
this = p (+) this.
const_iterator begin() const
double evaluateNormalizedPDF(const mrpt::poses::CPose2D &x) const
Evaluates the ratio PDF(x) / max_PDF(x*), that is, the normalized PDF in the range [0,...
CListGaussianModes::iterator iterator
mrpt::math::CMatrixDouble33 cov
void assureSymmetry()
Ensures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor ...
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
void resize(const size_t N)
Resize the number of SOG modes.
size_t size() const
Return the number of Gaussian modes.
void mergeModes(double max_KLd=0.5, bool verbose=false)
Merge very close modes so the overall number of modes is reduced while preserving the total distribut...
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
double evaluatePDF(const mrpt::poses::CPose2D &x, bool sumOverAllPhis=false) const
Evaluates the PDF at a given point.
void copyFrom(const CPosePDF &o) override
Copy operator, translating if necesary (for example, between particles and gaussian representations)
This class is a "CSerializable" wrapper for "CMatrixTemplateNumeric<double>".
GLsizei const GLchar ** string
bool empty() const
Return whether there is any Gaussian mode.
void rotateAllCovariances(const double &ang)
Rotate all the covariance matrixes by replacing them by , where .
void normalizeWeights()
Normalize the weights in m_modes such as the maximum log-weight is 0.
void getMean(CPose2D &mean_pose) const override
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF)
Declares a class that represents a Probability Density function (PDF) of a 2D pose .
void evaluatePDFInArea(const double &x_min, const double &x_max, const double &y_min, const double &y_max, const double &resolutionXY, const double &phi, mrpt::math::CMatrixD &outMatrix, bool sumOverAllPhis=false)
Evaluates the PDF within a rectangular grid (and a fixed orientation) and saves the result in a matri...
CListGaussianModes::const_iterator const_iterator
double log_w
The log-weight.
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