double computeKurtosis()
Compute the kurtosis of the distribution.
void setSize(size_t numberParticles, const mrpt::math::TPoint3Df &defaultValue=mrpt::math::TPoint3Df{0, 0, 0})
Erase all the previous particles and change the number of particles, with a given initial value
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
void getMean(CPoint3D &mean_point) const override
size_t size() const
Returns the number of particles.
A probability distribution of a 2D/3D point, represented as a set of random samples (particles).
std::tuple< cov_mat_t, type_value > getCovarianceAndMean() const override
bool saveToTextFile(const std::string &file) const override
Save PDF's particles to a text file, where each line is: X Y Z LOG_W.
void copyFrom(const CPointPDF &o) override
Copy operator, translating if necesary (for example, between particles and gaussian representations)
void clear()
Clear all the particles (free memory)
This template class declares the array of particles and its internal data, managing some memory-relat...
void bayesianFusion(const CPointPDF &p1, const CPointPDF &p2, const double minMahalanobisDistToDrop=0) override
Bayesian fusion of two point distributions (product of two distributions->new distribution),...
CParticleList m_particles
The array of particles.
void changeCoordinatesReference(const CPose3D &newReferenceBase) override
this = p (+) this.
void drawSingleSample(CPoint3D &outSample) const override
Draw a sample from the pdf.
A curiously recurring template pattern (CRTP) approach to providing the basic functionality of any CP...
CPointPDFParticles(size_t numParticles=1)
Default constructor.