9 #ifndef CPoseRandomSampler_H 10 #define CPoseRandomSampler_H 49 void do_sample_2D(
CPose2D &p )
const;
50 void do_sample_3D(
CPose3D &p )
const;
62 void setPosePDF(
const CPosePDF *pdf );
67 void setPosePDF(
const CPosePDFPtr &pdf );
82 void setPosePDF(
const CPose3DPDFPtr &pdf );
102 bool isPrepared()
const;
116 this->getOriginalPDFCov2D(M);
126 this->getOriginalPDFCov3D(M);
CPosePDF * m_pdf2D
A local copy of the PDF.
void getOriginalPDFCov3D(mrpt::math::CMatrixDouble &cov6x6) const
Retrieves the 6x6 covariance of the original PDF in .
A numeric matrix of compile-time fixed size.
CMatrixTemplateNumeric< double > CMatrixDouble
Declares a matrix of double numbers (non serializable).
void setPosePDF(const CPose3DPDF &pdf)
This method must be called to select the PDF from which to draw samples.
CPose3D m_fastdraw_gauss_M_3D
mrpt::math::CMatrixDouble33 m_fastdraw_gauss_Z3
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
CPose3DPDF * m_pdf3D
A local copy of the PDF.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
void setPosePDF(const CPosePDF &pdf)
This method must be called to select the PDF from which to draw samples.
A class used to store a 2D pose.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
CPose2D m_fastdraw_gauss_M_2D
void getOriginalPDFCov2D(mrpt::math::CMatrixDouble &cov3x3) const
Retrieves the 3x3 covariance of the original PDF in .
mrpt::math::CMatrixDouble66 m_fastdraw_gauss_Z6
An efficient generator of random samples drawn from a given 2D (CPosePDF) or 3D (CPose3DPDF) pose pro...
Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually).