Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion ![$ p(\mathbf{x}) = [x ~ y ~ z ~ qr ~ qx ~ qy ~ qz]^\top $](form_67.png)
.
This class implements that PDF using a mono-modal Gaussian distribution storing the information matrix instead of its inverse, the covariance matrix. See mrpt::poses::CPose3DQuatPDF for more details, or mrpt::poses::CPose3DPDF for classes based on Euler angles instead.
Uncertainty of pose composition operations ( 
) is implemented in the methods "CPose3DQuatPDFGaussianInf::operator+=" and "CPose3DQuatPDF::jacobiansPoseComposition".
For further details on implemented methods and the theory behind them, see this report.
Definition at line 59 of file CPose3DQuatPDFGaussianInf.h.
#include <mrpt/poses/CPose3DQuatPDFGaussianInf.h>
Public Types | |
| typedef CPose3DQuat | type_value |
| The type of the state the PDF represents. | |
Public Member Functions | |
| CPose3DQuatPDFGaussianInf () | |
| Default constructor - set all values to zero. | |
| CPose3DQuatPDFGaussianInf (TConstructorFlags_Quaternions constructor_dummy_param) | |
| Constructor which left all the member uninitialized, for using when speed is critical - as argument, use UNINITIALIZED_QUATERNION. | |
| CPose3DQuatPDFGaussianInf (const CPose3DQuat &init_Mean) | |
| Constructor from a default mean value, information matrix equals to zero. | |
| CPose3DQuatPDFGaussianInf (const CPose3DQuat &init_Mean, const CMatrixDouble77 &init_CovInv) | |
| Constructor with mean and inverse covariance (information matrix). | |
| const CPose3DQuat & | getPoseMean () const |
| CPose3DQuat & | getPoseMean () |
| void | getMean (CPose3DQuat &mean_pose) const |
| Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). | |
| void | getCovarianceAndMean (CMatrixDouble77 &cov, CPose3DQuat &mean_point) const |
| Returns an estimate of the pose covariance matrix (7x7 cov matrix) and the mean, both at once. | |
| virtual void | getInformationMatrix (CMatrixDouble77 &inf) const |
| Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) | |
| void | copyFrom (const CPose3DQuatPDF &o) |
| Copy operator, translating if necesary (for example, between particles and gaussian representations) | |
| void | saveToTextFile (const std::string &file) const |
| Save the PDF to a text file, containing the 3D pose in the first line (x y z qr qx qy qz), then the information matrix in the next 7 lines. | |
| void | changeCoordinatesReference (const CPose3DQuat &newReferenceBase) |
| This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. | |
| void | changeCoordinatesReference (const CPose3D &newReferenceBase) |
| This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. | |
| void | drawSingleSample (CPose3DQuat &outPart) const |
| Draws a single sample from the distribution. | |
| void | drawManySamples (size_t N, std::vector< vector_double > &outSamples) const |
| Draws a number of samples from the distribution, and saves as a list of 1x7 vectors, where each row contains a (x,y,z,qr,qx,qy,qz) datum. | |
| void | inverse (CPose3DQuatPDF &o) const |
| Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. | |
| CPose3DQuatPDFGaussianInf | operator- () const |
| Unary - operator, returns the PDF of the inverse pose. | |
| void | operator+= (const CPose3DQuat &Ap) |
| Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated). | |
| void | operator+= (const CPose3DQuatPDFGaussianInf &Ap) |
| Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ). | |
| void | operator-= (const CPose3DQuatPDFGaussianInf &Ap) |
| Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated). | |
| double | evaluatePDF (const CPose3DQuat &x) const |
| Evaluates the PDF at a given point. | |
| double | evaluateNormalizedPDF (const CPose3DQuat &x) const |
| Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1]. | |
| template<class OPENGL_SETOFOBJECTSPTR > | |
| void | getAs3DObject (OPENGL_SETOFOBJECTSPTR &out_obj) const |
| Returns a 3D representation of this PDF. | |
| template<class OPENGL_SETOFOBJECTSPTR > | |
| OPENGL_SETOFOBJECTSPTR | getAs3DObject () const |
| Returns a 3D representation of this PDF. | |
| 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). | |
| CObject * | clone () const |
| Cloning interface for smart pointers. | |
| virtual void | getMean (CPose3DQuat &mean_point) const =0 |
| Returns the mean, or mathematical expectation of the probability density distribution (PDF). | |
| virtual void | getCovarianceAndMean (CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, CPose3DQuat &mean_point) const =0 |
| Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. | |
| void | getCovarianceDynAndMean (CMatrixDouble &cov, CPose3DQuat &mean_point) const |
| Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. | |
| CPose3DQuat | getMeanVal () const |
| Returns the mean, or mathematical expectation of the probability density distribution (PDF). | |
| void | getCovariance (CMatrixDouble &cov) const |
| Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) | |
| void | getCovariance (CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const |
| Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) | |
| CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > | getCovariance () const |
| Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) | |
| virtual void | getInformationMatrix (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. | |
| virtual void | drawSingleSample (CPose3DQuat &outPart) const =0 |
| Draws a single sample from the distribution. | |
| virtual void | drawManySamples (size_t N, std::vector< vector_double > &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. | |
| double | getCovarianceEntropy () const |
| Compute the entropy of the estimated covariance matrix. | |
Static Public Member Functions | |
| static CPose3DQuatPDF * | createFrom2D (const CPosePDF &o) |
| This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of CPose3DQuatPDF. | |
| static void | jacobiansPoseComposition (const CPose3DQuat &x, const CPose3DQuat &u, CMatrixDouble77 &df_dx, CMatrixDouble77 &df_du, CPose3DQuat *out_x_oplus_u=NULL) |
| This static method computes the two Jacobians of a pose composition operation $f(x,u)= x u$. | |
Public Attributes | |
| CPose3DQuat | mean |
| The mean value. | |
| CMatrixDouble77 | cov_inv |
| The 7x7 information matrix (the inverse of the covariance) | |
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). | |
RTTI stuff | |
| static const mrpt::utils::TRuntimeClassId | classCSerializable |
Protected Member Functions | |
| virtual void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0 |
| Introduces a pure virtual method responsible for writing to a CStream. | |
| virtual void | readFromStream (mrpt::utils::CStream &in, int version)=0 |
| 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. | |
RTTI stuff | |
| static const mrpt::utils::TRuntimeClassId | classCPose3DQuatPDF |
| class | mrpt::utils::CStream |
RTTI stuff | |
| typedef CPose3DQuatPDFGaussianInfPtr | SmartPtr |
| static mrpt::utils::CLASSINIT | _init_CPose3DQuatPDFGaussianInf |
| static mrpt::utils::TRuntimeClassId | classCPose3DQuatPDFGaussianInf |
| static const mrpt::utils::TRuntimeClassId * | classinfo |
| static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
| virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
| Returns information about the class of an object in runtime. | |
| virtual mrpt::utils::CObject * | duplicate () const |
| Returns a copy of the object, indepently of its class. | |
| static mrpt::utils::CObject * | CreateObject () |
| static CPose3DQuatPDFGaussianInfPtr | Create () |
A typedef for the associated smart pointer
Definition at line 62 of file CPose3DQuatPDFGaussianInf.h.
typedef CPose3DQuat mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::type_value [inherited] |
The type of the state the PDF represents.
Definition at line 54 of file CProbabilityDensityFunction.h.
| mrpt::poses::CPose3DQuatPDFGaussianInf::CPose3DQuatPDFGaussianInf | ( | ) |
Default constructor - set all values to zero.
| mrpt::poses::CPose3DQuatPDFGaussianInf::CPose3DQuatPDFGaussianInf | ( | TConstructorFlags_Quaternions | constructor_dummy_param | ) |
Constructor which left all the member uninitialized, for using when speed is critical - as argument, use UNINITIALIZED_QUATERNION.
| mrpt::poses::CPose3DQuatPDFGaussianInf::CPose3DQuatPDFGaussianInf | ( | const CPose3DQuat & | init_Mean | ) | [explicit] |
Constructor from a default mean value, information matrix equals to zero.
| mrpt::poses::CPose3DQuatPDFGaussianInf::CPose3DQuatPDFGaussianInf | ( | const CPose3DQuat & | init_Mean, |
| const CMatrixDouble77 & | init_CovInv | ||
| ) |
Constructor with mean and inverse covariance (information matrix).
| static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DQuatPDFGaussianInf::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::poses::CPose3DQuatPDF.
| void mrpt::poses::CPose3DQuatPDFGaussianInf::changeCoordinatesReference | ( | const CPose3DQuat & | newReferenceBase | ) |
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.
| void mrpt::poses::CPose3DQuatPDFGaussianInf::changeCoordinatesReference | ( | const CPose3D & | newReferenceBase | ) | [virtual] |
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.
Implements mrpt::utils::CProbabilityDensityFunction< CPose3DQuat, 7 >.
| CObject* mrpt::utils::CObject::clone | ( | ) | const [inline, inherited] |
Cloning interface for smart pointers.
Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.
| void mrpt::poses::CPose3DQuatPDFGaussianInf::copyFrom | ( | const CPose3DQuatPDF & | o | ) | [virtual] |
Copy operator, translating if necesary (for example, between particles and gaussian representations)
Implements mrpt::poses::CPose3DQuatPDF.
| static CPose3DQuatPDFGaussianInfPtr mrpt::poses::CPose3DQuatPDFGaussianInf::Create | ( | ) | [static] |
| static CPose3DQuatPDF* mrpt::poses::CPose3DQuatPDF::createFrom2D | ( | const CPosePDF & | o | ) | [static, inherited] |
This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of CPose3DQuatPDF.
This object must be deleted by the user when not required anymore.
| static mrpt::utils::CObject* mrpt::poses::CPose3DQuatPDFGaussianInf::CreateObject | ( | ) | [static] |
| void mrpt::poses::CPose3DQuatPDFGaussianInf::drawManySamples | ( | size_t | N, |
| std::vector< vector_double > & | outSamples | ||
| ) | const |
Draws a number of samples from the distribution, and saves as a list of 1x7 vectors, where each row contains a (x,y,z,qr,qx,qy,qz) datum.
| virtual void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::drawManySamples | ( | size_t | N, |
| std::vector< vector_double > & | outSamples | ||
| ) | const [inline, virtual, inherited] |
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 139 of file CProbabilityDensityFunction.h.
| virtual void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::drawSingleSample | ( | CPose3DQuat & | outPart | ) | const [pure virtual, inherited] |
Draws a single sample from the distribution.
| void mrpt::poses::CPose3DQuatPDFGaussianInf::drawSingleSample | ( | CPose3DQuat & | outPart | ) | const |
Draws a single sample from the distribution.
| virtual mrpt::utils::CObject* mrpt::poses::CPose3DQuatPDFGaussianInf::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 [inline, inherited] |
| double mrpt::poses::CPose3DQuatPDFGaussianInf::evaluateNormalizedPDF | ( | const CPose3DQuat & | x | ) | const |
Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in the range [0,1].
| double mrpt::poses::CPose3DQuatPDFGaussianInf::evaluatePDF | ( | const CPose3DQuat & | x | ) | const |
Evaluates the PDF at a given point.
| void mrpt::poses::CPose3DQuatPDF::getAs3DObject | ( | OPENGL_SETOFOBJECTSPTR & | out_obj | ) | const [inline, inherited] |
Returns a 3D representation of this PDF.
Definition at line 101 of file CPose3DQuatPDF.h.
References mrpt::opengl::posePDF2opengl().
| OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DQuatPDF::getAs3DObject | ( | ) | const [inline, inherited] |
Returns a 3D representation of this PDF.
Definition at line 110 of file CPose3DQuatPDF.h.
References mrpt::opengl::posePDF2opengl().
| void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getCovariance | ( | CMatrixDouble & | cov | ) | const [inline, inherited] |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 89 of file CProbabilityDensityFunction.h.
| void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getCovariance | ( | CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > & | cov | ) | const [inline, inherited] |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 98 of file CProbabilityDensityFunction.h.
| CMatrixFixedNumeric<double,STATE_LEN,STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getCovariance | ( | ) | const [inline, inherited] |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 107 of file CProbabilityDensityFunction.h.
| void mrpt::poses::CPose3DQuatPDFGaussianInf::getCovarianceAndMean | ( | CMatrixDouble77 & | cov, |
| CPose3DQuat & | mean_point | ||
| ) | const [inline] |
Returns an estimate of the pose covariance matrix (7x7 cov matrix) and the mean, both at once.
Definition at line 94 of file CPose3DQuatPDFGaussianInf.h.
References mean().
| virtual void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getCovarianceAndMean | ( | CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > & | cov, |
| CPose3DQuat & | mean_point | ||
| ) | const [pure virtual, inherited] |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
| void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getCovarianceDynAndMean | ( | CMatrixDouble & | cov, |
| CPose3DQuat & | mean_point | ||
| ) | const [inline, inherited] |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
Definition at line 69 of file CProbabilityDensityFunction.h.
| double mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getCovarianceEntropy | ( | ) | const [inline, inherited] |
Compute the entropy of the estimated covariance matrix.
Definition at line 158 of file CProbabilityDensityFunction.h.
| virtual void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getInformationMatrix | ( | CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > & | inf | ) | const [inline, virtual, inherited] |
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.
Definition at line 120 of file CProbabilityDensityFunction.h.
| virtual void mrpt::poses::CPose3DQuatPDFGaussianInf::getInformationMatrix | ( | CMatrixDouble77 & | inf | ) | const [inline, virtual] |
Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix)
Definition at line 100 of file CPose3DQuatPDFGaussianInf.h.
| void mrpt::poses::CPose3DQuatPDFGaussianInf::getMean | ( | CPose3DQuat & | mean_pose | ) | const [inline] |
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
Definition at line 88 of file CPose3DQuatPDFGaussianInf.h.
References mean().
| virtual void mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getMean | ( | CPose3DQuat & | mean_point | ) | const [pure virtual, inherited] |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
| CPose3DQuat mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::getMeanVal | ( | ) | const [inline, inherited] |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Definition at line 79 of file CProbabilityDensityFunction.h.
| const CPose3DQuat& mrpt::poses::CPose3DQuatPDFGaussianInf::getPoseMean | ( | ) | const [inline] |
Definition at line 83 of file CPose3DQuatPDFGaussianInf.h.
References mean().
| CPose3DQuat& mrpt::poses::CPose3DQuatPDFGaussianInf::getPoseMean | ( | ) | [inline] |
Definition at line 84 of file CPose3DQuatPDFGaussianInf.h.
References mean().
| virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DQuatPDFGaussianInf::GetRuntimeClass | ( | ) | const [virtual] |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::poses::CPose3DQuatPDF.
| void mrpt::poses::CPose3DQuatPDFGaussianInf::inverse | ( | CPose3DQuatPDF & | o | ) | const [virtual] |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
Implements mrpt::poses::CPose3DQuatPDF.
| static void mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition | ( | const CPose3DQuat & | x, |
| const CPose3DQuat & | u, | ||
| CMatrixDouble77 & | df_dx, | ||
| CMatrixDouble77 & | df_du, | ||
| CPose3DQuat * | out_x_oplus_u = NULL |
||
| ) | [static, inherited] |
This static method computes the two Jacobians of a pose composition operation $f(x,u)= x u$.
| out_x_oplus_u | If set to !=NULL, the result of "x+u" will be stored here (it will be computed internally anyway). To see the mathematical derivation of the formulas, refer to the technical report here: |
| void mrpt::poses::CPose3DQuatPDFGaussianInf::operator+= | ( | const CPose3DQuatPDFGaussianInf & | Ap | ) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated) (see formulas in jacobiansPoseComposition ).
| void mrpt::poses::CPose3DQuatPDFGaussianInf::operator+= | ( | const CPose3DQuat & | Ap | ) |
Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).
| CPose3DQuatPDFGaussianInf mrpt::poses::CPose3DQuatPDFGaussianInf::operator- | ( | ) | const [inline] |
Unary - operator, returns the PDF of the inverse pose.
Definition at line 129 of file CPose3DQuatPDFGaussianInf.h.
References mrpt::math::UNINITIALIZED_QUATERNION.
| void mrpt::poses::CPose3DQuatPDFGaussianInf::operator-= | ( | const CPose3DQuatPDFGaussianInf & | Ap | ) |
Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition (both the mean, and the covariance matrix are updated).
| virtual void mrpt::utils::CSerializable::readFromStream | ( | mrpt::utils::CStream & | in, |
| int | version | ||
| ) | [protected, pure virtual, inherited] |
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.
| in | The input binary stream where the object data must read from. |
| version | The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. |
| std::exception | On any error, see CStream::ReadBuffer |
Implemented in mrpt::math::CMatrix, and mrpt::math::CMatrixD.
| void mrpt::poses::CPose3DQuatPDFGaussianInf::saveToTextFile | ( | const std::string & | file | ) | const [virtual] |
Save the PDF to a text file, containing the 3D pose in the first line (x y z qr qx qy qz), then the information matrix in the next 7 lines.
Implements mrpt::utils::CProbabilityDensityFunction< CPose3DQuat, 7 >.
| virtual void mrpt::utils::CSerializable::writeToStream | ( | mrpt::utils::CStream & | out, |
| int * | getVersion | ||
| ) | const [protected, pure virtual, inherited] |
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.
| out | The output binary stream where object must be dumped. |
| getVersion | If 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. |
| std::exception | On any error, see CStream::WriteBuffer |
Implemented in mrpt::math::CMatrix, and mrpt::math::CMatrixD.
friend class mrpt::utils::CStream [friend, inherited] |
Reimplemented from mrpt::utils::CSerializable.
Definition at line 66 of file CPose3DQuatPDF.h.
mrpt::utils::CLASSINIT mrpt::poses::CPose3DQuatPDFGaussianInf::_init_CPose3DQuatPDFGaussianInf [static, protected] |
Definition at line 62 of file CPose3DQuatPDFGaussianInf.h.
const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject [static, inherited] |
const mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DQuatPDF::classCPose3DQuatPDF [static, inherited] |
Definition at line 66 of file CPose3DQuatPDF.h.
mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DQuatPDFGaussianInf::classCPose3DQuatPDFGaussianInf [static] |
Definition at line 62 of file CPose3DQuatPDFGaussianInf.h.
const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable [static, inherited] |
Definition at line 56 of file CSerializable.h.
Definition at line 62 of file CPose3DQuatPDFGaussianInf.h.
| CMatrixDouble77 mrpt::poses::CPose3DQuatPDFGaussianInf::cov_inv |
The 7x7 information matrix (the inverse of the covariance)
Definition at line 81 of file CPose3DQuatPDFGaussianInf.h.
The mean value.
Definition at line 78 of file CPose3DQuatPDFGaussianInf.h.
const size_t mrpt::utils::CProbabilityDensityFunction< CPose3DQuat , STATE_LEN >::state_length [static, inherited] |
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 53 of file CProbabilityDensityFunction.h.
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