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4 #include <Eigen/Geometry>
38 Eigen::Block<Eigen::Matrix<float, 6, 6>, 3, 3>
43 Eigen::Block<const Eigen::Matrix<float, 6, 6>, 3, 3>
50 Eigen::Block<Eigen::Matrix<float, 6, 6>, 3, 3>
55 Eigen::Block<const Eigen::Matrix<float, 6, 6>, 3, 3>
Eigen::Matrix3f orientation
Eigen::Matrix4f mean
The mean (i.e. a pose).
A "gaussian" distribution in pose space (i.e.
Eigen::Matrix< float, 6, 6 > covariance
The covariance matrix.
Eigen::AngleAxisf getScaledRotationAxis(int index, bool global=false) const
Get a column of the pure orientational covariance matrix as axis-angle rotation.
PoseManifoldGaussian getTransformed(const Eigen::Matrix4f &transform) const
Transform this gaussian by the given transform (e.g.
void Identity(MatrixXX< N, N, T > *a)
Ellipsoid getPositionEllipsoid() const
Get the parameters of a 3D ellipsoid illustrating this gaussian.
This file is part of ArmarX.
Eigen::Block< Eigen::Matrix< float, 6, 6 >, 3, 3 > orientationCovariance()
Get the pure orientational part of the covariance matrix.
MatrixXX< 3, 3, float > Matrix3f
MatrixXX< 4, 4, float > Matrix4f
auto transform(const Container< InputT, Alloc > &in, OutputT(*func)(InputT const &)) -> Container< OutputT, typename std::allocator_traits< Alloc >::template rebind_alloc< OutputT > >
Convenience function (with less typing) to transform a container of type InputT into the same contain...
Eigen::Block< Eigen::Matrix< float, 6, 6 >, 3, 3 > positionCovariance()
Get the pure positional part of the covariance matrix.
Eigen::Block< const Eigen::Matrix< float, 6, 6 >, 3, 3 > positionCovariance() const
Eigen::Block< const Eigen::Matrix< float, 6, 6 >, 3, 3 > orientationCovariance() const