9 #ifndef CPoint2DPDFGaussian_H
10 #define CPoint2DPDFGaussian_H
36 CPoint2DPDFGaussian( const
CPoint2D &init_Mean );
61 mean_point = this->
mean;
66 void copyFrom(
const CPoint2DPDF &o);
75 void changeCoordinatesReference(
const CPose3D &newReferenceBase );
107 void drawSingleSample(
CPoint2D &outSample)
const;
114 void bayesianFusion(
const CPoint2DPDF &p1,
const CPoint2DPDF &p2,
const double &minMahalanobisDistToDrop = 0);
121 double mahalanobisDistanceToPoint(
const double x,
const double y )
const;
A gaussian distribution for 2D points.
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...
A numeric matrix of compile-time fixed size.
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...
Declares a class that represents a Probability Distribution function (PDF) of a 2D point (x...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE(class_name, base_name)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
A class used to store a 2D 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.
void getCovarianceAndMean(mrpt::math::CMatrixDouble22 &cov, CPoint2D &mean_point) const
Returns an estimate of the point covariance matrix (2x2 cov matrix) and the mean, both at once...
CMatrixFixedNumeric< double, 2, 2 > CMatrixDouble22