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mrpt::poses::CPointPDFGaussian Class Referenceabstract

Detailed Description

A gaussian distribution for 3D points.

Also a method for bayesian fusion is provided.

See also
CPointPDF

Definition at line 26 of file CPointPDFGaussian.h.

#include <mrpt/poses/CPointPDFGaussian.h>

Inheritance diagram for mrpt::poses::CPointPDFGaussian:
Inheritance graph

Public Types

enum  { is_3D_val = 1 }
 
enum  { is_PDF_val = 1 }
 
typedef CPoint3D type_value
 The type of the state the PDF represents. More...
 

Public Member Functions

void * operator new (size_t size)
 
void * operator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
void * operator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 CPointPDFGaussian ()
 Default constructor. More...
 
 CPointPDFGaussian (const CPoint3D &init_Mean)
 Constructor. More...
 
 CPointPDFGaussian (const CPoint3D &init_Mean, const mrpt::math::CMatrixDouble33 &init_Cov)
 Constructor. More...
 
void getMean (CPoint3D &p) const MRPT_OVERRIDE
 Returns an estimate of the point, (the mean, or mathematical expectation of the PDF) More...
 
void getCovarianceAndMean (mrpt::math::CMatrixDouble33 &cov, CPoint3D &mean_point) const MRPT_OVERRIDE
 Returns an estimate of the point covariance matrix (3x3 cov matrix) and the mean, both at once. More...
 
void copyFrom (const CPointPDF &o) MRPT_OVERRIDE
 Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
 
void saveToTextFile (const std::string &file) const MRPT_OVERRIDE
 Save PDF's particles to a text file, containing the 2D pose in the first line, then the covariance matrix in next 3 lines. More...
 
void changeCoordinatesReference (const CPose3D &newReferenceBase) MRPT_OVERRIDE
 this = p (+) this. More...
 
void bayesianFusion (const CPointPDFGaussian &p1, const CPointPDFGaussian &p2)
 Bayesian fusion of two points gauss. More...
 
double productIntegralWith (const CPointPDFGaussian &p) const
 Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF. More...
 
double productIntegralWith2D (const CPointPDFGaussian &p) const
 Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF. More...
 
double productIntegralNormalizedWith (const CPointPDFGaussian &p) const
 Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF. More...
 
double productIntegralNormalizedWith2D (const CPointPDFGaussian &p) const
 Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF. More...
 
void drawSingleSample (CPoint3D &outSample) const MRPT_OVERRIDE
 Draw a sample from the pdf. More...
 
void bayesianFusion (const CPointPDF &p1, const CPointPDF &p2, const double &minMahalanobisDistToDrop=0) MRPT_OVERRIDE
 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!) More...
 
double mahalanobisDistanceTo (const CPointPDFGaussian &other, bool only_2D=false) const
 Returns the Mahalanobis distance from this PDF to another PDF, that is, it's evaluation at (0,0,0) More...
 
template<class OPENGL_SETOFOBJECTSPTR >
void getAs3DObject (OPENGL_SETOFOBJECTSPTR &out_obj) const
 Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list) More...
 
template<class OPENGL_SETOFOBJECTSPTR , class OPENGL_SETOFOBJECTS >
OPENGL_SETOFOBJECTSPTR getAs3DObject () const
 Returns a 3D representation of this PDF. More...
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
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). More...
 
CObject * clone () const
 Cloning interface for smart pointers. More...
 
virtual void getMean (CPoint3D &mean_point) const =0
 Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...
 
virtual void getCovarianceAndMean (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, CPoint3D &mean_point) const =0
 Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...
 
void getCovarianceDynAndMean (mrpt::math::CMatrixDouble &cov, CPoint3D &mean_point) const
 Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...
 
CPoint3D getMeanVal () const
 Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...
 
void getCovariance (mrpt::math::CMatrixDouble &cov) const
 Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...
 
void getCovariance (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const
 Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...
 
mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > getCovariance () const
 Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...
 
virtual void getInformationMatrix (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &inf) const
 Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it. More...
 
virtual void drawSingleSample (CPoint3D &outPart) const =0
 Draws a single sample from the distribution. More...
 
virtual void drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const
 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. More...
 
double getCovarianceEntropy () const
 Compute the entropy of the estimated covariance matrix. More...
 

Static Public Member Functions

static void * operator new (size_t size, void *ptr)
 
static bool is_3D ()
 
static bool is_PDF ()
 

Public Attributes

CPoint3D mean
 The mean value. More...
 
mrpt::math::CMatrixDouble33 cov
 The 3x3 covariance matrix. More...
 

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). More...
 
RTTI stuff
static const mrpt::utils::TRuntimeClassId classCPointPDF
 
RTTI stuff
static const mrpt::utils::TRuntimeClassId classCSerializable
 

Protected Member Functions

CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 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. More...
 

RTTI stuff

typedef CPointPDFGaussianPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CPointPDFGaussian
 
static mrpt::utils::TRuntimeClassId classCPointPDFGaussian
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CPointPDFGaussianPtr Create ()
 

Member Typedef Documentation

typedef CPointPDFGaussianPtr mrpt::poses::CPointPDFGaussian::SmartPtr

A typedef for the associated smart pointer

Definition at line 29 of file CPointPDFGaussian.h.

The type of the state the PDF represents.

Definition at line 32 of file CProbabilityDensityFunction.h.

Member Enumeration Documentation

anonymous enum
inherited
Enumerator
is_3D_val 

Definition at line 55 of file CPointPDF.h.

anonymous enum
inherited
Enumerator
is_PDF_val 

Definition at line 57 of file CPointPDF.h.

Constructor & Destructor Documentation

mrpt::poses::CPointPDFGaussian::CPointPDFGaussian ( )

Default constructor.

mrpt::poses::CPointPDFGaussian::CPointPDFGaussian ( const CPoint3D init_Mean)

Constructor.

mrpt::poses::CPointPDFGaussian::CPointPDFGaussian ( const CPoint3D init_Mean,
const mrpt::math::CMatrixDouble33 init_Cov 
)

Constructor.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPointPDFGaussian::_GetBaseClass ( )
staticprotected
void mrpt::poses::CPointPDFGaussian::bayesianFusion ( const CPointPDFGaussian p1,
const CPointPDFGaussian p2 
)

Bayesian fusion of two points gauss.

distributions, then save the result in this object. The process is as follows:

  • (x1,S1): Mean and variance of the p1 distribution.
  • (x2,S2): Mean and variance of the p2 distribution.
  • (x,S): Mean and variance of the resulting distribution.

S = (S1-1 + S2-1)-1; x = S * ( S1-1*x1 + S2-1*x2 );

void mrpt::poses::CPointPDFGaussian::bayesianFusion ( const CPointPDF p1,
const CPointPDF p2,
const double &  minMahalanobisDistToDrop = 0 
)
virtual

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!)

Parameters
p1The first distribution to fuse
p2The second distribution to fuse
minMahalanobisDistToDropIf 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.

Implements mrpt::poses::CPointPDF.

void mrpt::poses::CPointPDFGaussian::changeCoordinatesReference ( const CPose3D newReferenceBase)
virtual

this = p (+) this.

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. Both the mean value and the covariance matrix are updated correctly.

Implements mrpt::utils::CProbabilityDensityFunction< CPoint3D, 3 >.

CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 139 of file CObject.h.

void mrpt::poses::CPointPDFGaussian::copyFrom ( const CPointPDF o)
virtual

Copy operator, translating if necesary (for example, between particles and gaussian representations)

Implements mrpt::poses::CPointPDF.

static CPointPDFGaussianPtr mrpt::poses::CPointPDFGaussian::Create ( )
static
static mrpt::utils::CObject* mrpt::poses::CPointPDFGaussian::CreateObject ( )
static
virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::drawManySamples ( size_t  N,
std::vector< mrpt::math::CVectorDouble > &  outSamples 
) const
inlinevirtualinherited

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.

This base method just call N times to drawSingleSample, but derived classes should implemented optimized method for each particular PDF.

Definition at line 117 of file CProbabilityDensityFunction.h.

void mrpt::poses::CPointPDFGaussian::drawSingleSample ( CPoint3D outSample) const

Draw a sample from the pdf.

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::drawSingleSample ( CPoint3D &  outPart) const
pure virtualinherited

Draws a single sample from the distribution.

virtual mrpt::utils::CObject* mrpt::poses::CPointPDFGaussian::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
inlineinherited

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).

Definition at line 136 of file CObject.h.

template<class OPENGL_SETOFOBJECTSPTR >
void mrpt::poses::CPointPDF::getAs3DObject ( OPENGL_SETOFOBJECTSPTR &  out_obj) const
inlineinherited

Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list)

Note
Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.

Definition at line 64 of file CPointPDF.h.

References mrpt::opengl::posePDF2opengl().

template<class OPENGL_SETOFOBJECTSPTR , class OPENGL_SETOFOBJECTS >
OPENGL_SETOFOBJECTSPTR mrpt::poses::CPointPDF::getAs3DObject ( ) const
inlineinherited

Returns a 3D representation of this PDF.

Note
Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.

Definition at line 73 of file CPointPDF.h.

References DEFINE_SERIALIZABLE_POST_CUSTOM_BASE, and mrpt::opengl::posePDF2opengl().

void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovariance ( mrpt::math::CMatrixDouble cov) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also
getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 67 of file CProbabilityDensityFunction.h.

void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovariance ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  cov) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also
getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 76 of file CProbabilityDensityFunction.h.

mrpt::math::CMatrixFixedNumeric<double,STATE_LEN,STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovariance ( ) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also
getMean, getInformationMatrix

Definition at line 85 of file CProbabilityDensityFunction.h.

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovarianceAndMean ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  cov,
CPoint3D &  mean_point 
) const
pure virtualinherited

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See also
getMean, getInformationMatrix
void mrpt::poses::CPointPDFGaussian::getCovarianceAndMean ( mrpt::math::CMatrixDouble33 cov,
CPoint3D mean_point 
) const

Returns an estimate of the point covariance matrix (3x3 cov matrix) and the mean, both at once.

See also
getMean
void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovarianceDynAndMean ( mrpt::math::CMatrixDouble cov,
CPoint3D &  mean_point 
) const
inlineinherited

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See also
getMean, getInformationMatrix

Definition at line 47 of file CProbabilityDensityFunction.h.

double mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getCovarianceEntropy ( ) const
inlineinherited

Compute the entropy of the estimated covariance matrix.

See also
http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy

Definition at line 136 of file CProbabilityDensityFunction.h.

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getInformationMatrix ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  inf) const
inlinevirtualinherited

Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it.

See also
getMean, getCovarianceAndMean

Definition at line 98 of file CProbabilityDensityFunction.h.

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getMean ( CPoint3D &  mean_point) const
pure virtualinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See also
getCovarianceAndMean, getInformationMatrix
void mrpt::poses::CPointPDFGaussian::getMean ( CPoint3D p) const

Returns an estimate of the point, (the mean, or mathematical expectation of the PDF)

CPoint3D mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::getMeanVal ( ) const
inlineinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See also
getCovariance, getInformationMatrix

Definition at line 57 of file CProbabilityDensityFunction.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPointPDFGaussian::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPointPDF.

static bool mrpt::poses::CPointPDF::is_3D ( )
inlinestaticinherited

Definition at line 56 of file CPointPDF.h.

static bool mrpt::poses::CPointPDF::is_PDF ( )
inlinestaticinherited

Definition at line 58 of file CPointPDF.h.

double mrpt::poses::CPointPDFGaussian::mahalanobisDistanceTo ( const CPointPDFGaussian other,
bool  only_2D = false 
) const

Returns the Mahalanobis distance from this PDF to another PDF, that is, it's evaluation at (0,0,0)

void mrpt::poses::CPointPDFGaussian::operator delete ( void *  ptr)
throw (
)
inline

Definition at line 29 of file CPointPDFGaussian.h.

void mrpt::poses::CPointPDFGaussian::operator delete ( void *  memory,
void *  ptr 
)
throw (
)
inline

Definition at line 29 of file CPointPDFGaussian.h.

void mrpt::poses::CPointPDFGaussian::operator delete ( void *  ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 29 of file CPointPDFGaussian.h.

void mrpt::poses::CPointPDFGaussian::operator delete[] ( void *  ptr)
throw (
)
inline

Definition at line 29 of file CPointPDFGaussian.h.

void* mrpt::poses::CPointPDFGaussian::operator new ( size_t  size)
inline

Definition at line 29 of file CPointPDFGaussian.h.

static void* mrpt::poses::CPointPDFGaussian::operator new ( size_t  size,
void *  ptr 
)
inlinestatic

Definition at line 29 of file CPointPDFGaussian.h.

void* mrpt::poses::CPointPDFGaussian::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 29 of file CPointPDFGaussian.h.

void* mrpt::poses::CPointPDFGaussian::operator new[] ( size_t  size)
inline

Definition at line 29 of file CPointPDFGaussian.h.

double mrpt::poses::CPointPDFGaussian::productIntegralNormalizedWith ( const CPointPDFGaussian p) const

Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF.

The resulting number is in the range [0,1] Note that the resulting value is in fact

\[ exp( -\frac{1}{2} D^2 ) \]

, with $ D^2 $ being the square Mahalanobis distance between the two pdfs.

See also
productIntegralWith
Exceptions
std::exceptionOn errors like covariance matrix with null determinant, etc...
double mrpt::poses::CPointPDFGaussian::productIntegralNormalizedWith2D ( const CPointPDFGaussian p) const

Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF.

The resulting number is in the range [0,1]. This versions ignores the "z" coordinate.

Note that the resulting value is in fact

\[ exp( -\frac{1}{2} D^2 ) \]

, with $ D^2 $ being the square Mahalanobis distance between the two pdfs.

See also
productIntegralWith
Exceptions
std::exceptionOn errors like covariance matrix with null determinant, etc...
double mrpt::poses::CPointPDFGaussian::productIntegralWith ( const CPointPDFGaussian p) const

Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF.

The resulting number is >=0.

See also
productIntegralNormalizedWith
Exceptions
std::exceptionOn errors like covariance matrix with null determinant, etc...
double mrpt::poses::CPointPDFGaussian::productIntegralWith2D ( const CPointPDFGaussian p) const

Computes the "correspondence likelihood" of this PDF with another one: This is implemented as the integral from -inf to +inf of the product of both PDF.

The resulting number is >=0. NOTE: This version ignores the "z" coordinates!!

See also
productIntegralNormalizedWith
Exceptions
std::exceptionOn errors like covariance matrix with null determinant, etc...
void mrpt::poses::CPointPDFGaussian::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

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.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

void mrpt::poses::CPointPDFGaussian::saveToTextFile ( const std::string &  file) const
virtual

Save PDF's particles to a text file, containing the 2D pose in the first line, then the covariance matrix in next 3 lines.

Implements mrpt::utils::CProbabilityDensityFunction< CPoint3D, 3 >.

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

References BASE_IMPEXP, DEFINE_MRPT_OBJECT_POST, mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), mrpt::utils::OctetVectorToObject(), mrpt::utils::RawStringToObject(), and mrpt::utils::StringToObject().

void mrpt::poses::CPointPDFGaussian::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protectedvirtual

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.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf 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.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::poses::CPointPDFGaussian::_init_CPointPDFGaussian
staticprotected

Definition at line 29 of file CPointPDFGaussian.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 124 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::poses::CPointPDF::classCPointPDF
staticinherited

Definition at line 40 of file CPointPDF.h.

mrpt::utils::TRuntimeClassId mrpt::poses::CPointPDFGaussian::classCPointPDFGaussian
static

Definition at line 29 of file CPointPDFGaussian.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPointPDFGaussian::classinfo
static

Definition at line 29 of file CPointPDFGaussian.h.

mrpt::math::CMatrixDouble33 mrpt::poses::CPointPDFGaussian::cov

The 3x3 covariance matrix.

Definition at line 45 of file CPointPDFGaussian.h.

Referenced by mrpt::maps::CLandmark::getPose().

CPoint3D mrpt::poses::CPointPDFGaussian::mean

The mean value.

Definition at line 44 of file CPointPDFGaussian.h.

Referenced by mrpt::maps::CLandmark::getPose().

const size_t mrpt::utils::CProbabilityDensityFunction< CPoint3D , STATE_LEN >::state_length
staticinherited

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 31 of file CProbabilityDensityFunction.h.




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