Detailed Description

template<class TDATA, size_t STATE_LEN>
class mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >

A generic template for probability density distributions (PDFs).

This template is used as base for many classes in mrpt::poses Any derived class must implement getMean() and a getCovarianceAndMean(). Other methods such as getMean() or getCovariance() are implemented here for convenience.

See also:: mprt::poses::CPosePDF, mprt::poses::CPose3DPDF, mprt::poses::CPointPDF

Definition at line 50 of file CProbabilityDensityFunction.h.

#include <mrpt/utils/CProbabilityDensityFunction.h>

Inheritance diagram for mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >:

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List of all members.

Public Types
typedef TDATA	type_value
	The type of the state the PDF represents.
Public Member Functions
virtual void	getMean (TDATA &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, TDATA &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, TDATA &mean_point) const
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
TDATA	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	saveToTextFile (const std::string &file) const =0
	Save PDF's particles to a text file.
virtual void	drawSingleSample (TDATA &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.
virtual void	changeCoordinatesReference (const mrpt::poses::CPose3D &newReferenceBase)=0
	This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf.
double	getCovarianceEntropy () const
	Compute the entropy of the estimated covariance matrix.
Static Public Attributes
static const size_t	state_length = STATE_LEN
	The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll).