9 #ifndef CPointPDFGaussian_H
10 #define CPointPDFGaussian_H
38 CPointPDFGaussian( const
CPoint3D &init_Mean );
63 void copyFrom(const CPointPDF &o);
72 void changeCoordinatesReference( const
CPose3D &newReferenceBase );
83 void bayesianFusion( const CPointPDFGaussian &p1, const CPointPDFGaussian &p2 );
90 double productIntegralWith( const CPointPDFGaussian &p) const;
98 double productIntegralWith2D( const CPointPDFGaussian &p) const;
108 double productIntegralNormalizedWith( const CPointPDFGaussian &p) const;
119 double productIntegralNormalizedWith2D( const CPointPDFGaussian &p) const;
123 void drawSingleSample(
CPoint3D &outSample) const;
130 void bayesianFusion( const CPointPDF &p1,const CPointPDF &p2, const
double &minMahalanobisDistToDrop = 0);
135 double mahalanobisDistanceTo( const CPointPDFGaussian & other,
bool only_2D = false ) const;
void saveToTextFile(const std::string &file, mrpt::math::TMatrixTextFileFormat fileFormat=mrpt::math::MATRIX_FORMAT_ENG, bool appendMRPTHeader=false, const std::string &userHeader=std::string()) const
Save matrix to a text file, compatible with MATLAB text format (see also the methods of matrix classe...
Eigen::Matrix< typename MATRIX::Scalar, MATRIX::ColsAtCompileTime, MATRIX::ColsAtCompileTime > cov(const MATRIX &v)
Computes the covariance matrix from a list of samples in an NxM matrix, where each row is a sample...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE(class_name, base_name)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
CMatrixFixedNumeric< double, 3, 3 > CMatrixDouble33
A class used to store a 3D point.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE(class_name, base_name)
EIGEN_STRONG_INLINE double mean() const
Computes the mean of the entire matrix.
Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x...
A gaussian distribution for 3D points.