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134 const CPointPDF& p1,
const CPointPDF& p2,
135 const double minMahalanobisDistToDrop = 0)
override;
159 float maxDistanceFromCenter = 0)
const;
175 bool clearPreviousContentsOutPDF =
true,
178 float maxDistanceFromCenter = 0);
void changeCoordinatesReference(const mrpt::poses::CPose3D &newReferenceBase) override
this = p (+) this.
TTypePDF m_typePDF
Which one of the different 3D point PDF is currently used in this object: montecarlo,...
std::shared_ptr< mrpt::opengl ::CSetOfObjects > Ptr
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
std::tuple< cov_mat_t, type_value > getCovarianceAndMean() const override
A gaussian distribution for 3D points.
A probability distribution of a 2D/3D point, represented as a set of random samples (particles).
void getMean(mrpt::poses::CPoint3D &mean_point) const override
void drawSingleSample(mrpt::poses::CPoint3D &outSample) const override
Draw a sample from the pdf.
bool saveToTextFile(const std::string &file) const override
Save PDF's particles to a text file.
void copyFrom(const mrpt::poses::CPointPDF &o) override
Copy operator, translating if necesary (for example, between particles and gaussian representations)
mrpt::poses::CPointPDFGaussian m_locationGauss
The individual PDF, if m_typePDF=pdfGauss (publicly accesible for ease of use, but the CPointPDF inte...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
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),...
static void generateRingSOG(float sensedRange, mrpt::poses::CPointPDFSOG &outPDF, const CBeaconMap *myBeaconMap, const mrpt::poses::CPoint3D &sensorPnt, const mrpt::math::CMatrixDouble33 *covarianceCompositionToAdd=nullptr, bool clearPreviousContentsOutPDF=true, const mrpt::poses::CPoint3D ¢erPoint=mrpt::poses::CPoint3D(0, 0, 0), float maxDistanceFromCenter=0)
This static method returns a SOG with ring-shape (or as a 3D sphere) that can be used to initialize a...
void generateObservationModelDistribution(float sensedRange, mrpt::poses::CPointPDFSOG &outPDF, const CBeaconMap *myBeaconMap, const mrpt::poses::CPoint3D &sensorPntOnRobot, const mrpt::poses::CPoint3D ¢erPoint=mrpt::poses::CPoint3D(0, 0, 0), float maxDistanceFromCenter=0) const
Compute the observation model p(z_t|x_t) for a given observation (range value), and return it as an a...
mrpt::poses::CPointPDFSOG m_locationSOG
The individual PDF, if m_typePDF=pdfSOG (publicly accesible for ease of use, but the CPointPDF interf...
TBeaconID m_ID
An ID for the landmark (see details next...) This ID was introduced in the version 3 of this class (2...
Declares a class that represents a Probability Density function (PDF) of a 3D point .
mrpt::poses::CPointPDFParticles m_locationMC
The individual PDF, if m_typePDF=pdfMonteCarlo (publicly accesible for ease of use,...
A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian,...
The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions.
void getAsMatlabDrawCommands(std::vector< std::string > &out_Str) const
Gets a set of MATLAB commands which draw the current state of the beacon:
Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x,...
A class used to store a 3D point.
OPENGL_SETOFOBJECTSPTR getAs3DObject() const
Returns a 3D representation of this PDF.
int64_t TBeaconID
The type for the IDs of landmarks.
#define INVALID_BEACON_ID
Used for CObservationBeaconRange, CBeacon, etc.
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