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39 double resolution_XYZ = 0.10,
82 std::vector<mrpt::math::CVectorDouble>& outSamples)
const override;
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
void normalize()
Normalizes the PDF, such as all voxels sum the unity.
void uniformDistribution()
Assigns the same value to all the cells in the grid, so the sum 1.
Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually).
std::tuple< cov_mat_t, type_value > getCovarianceAndMean() const override
void getMean(CPose3D &mean_pose) const override
Declares a class that represents a Probability Distribution function (PDF) of a SE(3) pose (x,...
void drawSingleSample(CPose3D &outPart) const override
Draws a single sample from the distribution.
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
void bayesianFusion(const CPose3DPDF &p1, const CPose3DPDF &p2) override
Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently on...
This is a template class for storing a 6-dimensional grid, with components corresponding to Euler ang...
bool saveToTextFile(const std::string &dataFile) const override
Save the contents of the 3D grid in one file, as a concatenation of (X,Y) slices.
CPose3DPDFGrid(const mrpt::math::TPose3D &bb_min=mrpt::math::TPose3D(-1., -1., -1., -M_PI, -.5 *M_PI, -.5 *M_PI), const mrpt::math::TPose3D &bb_max=mrpt::math::TPose3D(1., 1., 1., M_PI,.5 *M_PI,.5 *M_PI), double resolution_XYZ=0.10, double resolution_YPR=mrpt::DEG2RAD(10.0))
Constructor: Initializes a, uniform distribution over the whole given range, given by a "rectangular"...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).
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 1x6 vectors,...
constexpr double DEG2RAD(const double x)
Degrees to radians
~CPose3DPDFGrid() override=default
Destructor.
void changeCoordinatesReference(const CPose3D &newReferenceBase) override
void copyFrom(const CPose3DPDF &o) override
Copy operator, translating if necesary (for example, between particles and gaussian representations)
void inverse(CPose3DPDF &o) const override
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
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