text: /* +------------------------------------------------------------------------+
     |                     Mobile Robot Programming Toolkit (MRPT)            |
     |                          http://www.mrpt.org/                          |
     |                                                                        |
     | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
     | See: http://www.mrpt.org/Authors - All rights reserved.                |
     | Released under BSD License. See details in http://www.mrpt.org/License |
     +------------------------------------------------------------------------+ */
  #pragma once
  
  #include <mrpt/poses/CPose3DQuatPDF.h>
  #include <mrpt/poses/CPose3DPDF.h>
  #include <mrpt/poses/CPosePDF.h>
  #include <mrpt/math/CMatrixD.h>
  
  namespace mrpt
  {
  namespace poses
  {
  class CPosePDFGaussian;
  class CPose3DPDFGaussian;
  
  /** Declares a class that represents a Probability Density function (PDF) of a
   * 3D pose using a quaternion \f$ p(\mathbf{x}) = [x ~ y ~ z ~ qr ~ qx ~ qy ~
   * qz]^\top \f$.
   *
   *   This class implements that PDF using a mono-modal Gaussian distribution.
   * See mrpt::poses::CPose3DQuatPDF for more details, or
   *    mrpt::poses::CPose3DPDF for classes based on Euler angles instead.
   *
   *  Uncertainty of pose composition operations (\f$ y = x \oplus u \f$) is
   * implemented in the methods "CPose3DQuatPDFGaussian::operator+=" and
   * "CPose3DQuatPDF::jacobiansPoseComposition".
   *
   *  For further details on implemented methods and the theory behind them,
   *  see <a
   * href="http://www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty"
   * >this report</a>.
   *
   * \sa CPose3DQuat, CPose3DQuatPDF, CPose3DPDF, CPose3DQuatPDFGaussianInf
   * \ingroup poses_pdf_grp
   */
  class CPose3DQuatPDFGaussian : public CPose3DQuatPDF
  {
  	DEFINE_SERIALIZABLE(CPose3DQuatPDFGaussian)
  
     protected:
  	/** Assures the symmetry of the covariance matrix (eventually certain
  	 * operations in the math-coprocessor lead to non-symmetric matrixes!)
  	  */
  	void assureSymmetry();
  
     public:
  	/** Default constructor - set all values to zero. */
  	CPose3DQuatPDFGaussian();
  
  	/** Constructor which left all the member uninitialized, for using when
  	 * speed is critical - as argument, use UNINITIALIZED_QUATERNION. */
  	CPose3DQuatPDFGaussian(
  		mrpt::math::TConstructorFlags_Quaternions constructor_dummy_param);
  
  	/** Constructor from a default mean value, covariance equals to zero. */
  	explicit CPose3DQuatPDFGaussian(const CPose3DQuat& init_Mean);
  
  	/** Constructor with mean and covariance. */
  	CPose3DQuatPDFGaussian(
  		const CPose3DQuat& init_Mean,
  		const mrpt::math::CMatrixDouble77& init_Cov);
  
  	/** Constructor from a Gaussian 2D pose PDF (sets to 0 the missing
  	 * variables). */
  	explicit CPose3DQuatPDFGaussian(const CPosePDFGaussian& o);
  
  	/** Constructor from an equivalent Gaussian in Euler angles representation.
  	 */
  	explicit CPose3DQuatPDFGaussian(const CPose3DPDFGaussian& o);
  
  	/** The mean value */
  	CPose3DQuat mean;
  	/** The 7x7 covariance matrix */
  	mrpt::math::CMatrixDouble77 cov;
  
  	inline const CPose3DQuat& getPoseMean() const { return mean; }
  	inline CPose3DQuat& getPoseMean() { return mean; }
  	/** Returns an estimate of the pose, (the mean, or mathematical expectation
  	 * of the PDF). \sa getCovariance */
  	void getMean(CPose3DQuat& mean_pose) const override;
  	/** Returns an estimate of the pose covariance matrix (7x7 cov matrix) and
  	 * the mean, both at once. \sa getMean */
  	void getCovarianceAndMean(
  		mrpt::math::CMatrixDouble77& cov,
  		CPose3DQuat& mean_point) const override;
  	/** Copy operator, translating if necesary (for example, between particles
  	 * and gaussian representations) */
  	void copyFrom(const CPose3DQuatPDF& o) override;
  	/** Copy operator, translating if necesary (for example, between particles
  	 * and gaussian representations) */
  	void copyFrom(const CPosePDF& o);
  	/** Copy operator, translating if necesary (for example, between particles
  	 * and gaussian representations) */
  	void copyFrom(const CPose3DPDFGaussian& o);
  	/** Save the PDF to a text file, containing the 3D pose in the first line (x
  	 * y z qr qx qy qz), then the covariance matrix in the next 7 lines. */
  	bool saveToTextFile(const std::string& file) const override;
  
  	/** this = p (+) this. This can be used to convert a PDF from local
  	 * coordinates to global, providing the point (newReferenceBase) from which
  	  *   "to project" the current pdf. Result PDF substituted the currently
  	 * stored one in the object. */
  	void changeCoordinatesReference(const CPose3DQuat& newReferenceBase);
  
  	/** this = p (+) this. This can be used to convert a PDF from local
  	 * coordinates to global, providing the point (newReferenceBase) from which
  	  *   "to project" the current pdf. Result PDF substituted the currently
  	 * stored one in the object.
  	  */
  	void changeCoordinatesReference(const CPose3D& newReferenceBase) override;
  
  	/** Draws a single sample from the distribution */
  	void drawSingleSample(CPose3DQuat& outPart) const override;
  	/** Draws a number of samples from the distribution, and saves as a list of
  	 * 1x7 vectors, where each row contains a (x,y,z,qr,qx,qy,qz) datum. */
  	void drawManySamples(
  		size_t N,
  		std::vector<mrpt::math::CVectorDouble>& outSamples) const override;
  	/** Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF */
  	void inverse(CPose3DQuatPDF& o) const override;
  
  	/** Unary - operator, returns the PDF of the inverse pose.  */
  	inline CPose3DQuatPDFGaussian operator-() const
  	{
  		CPose3DQuatPDFGaussian p(mrpt::math::UNINITIALIZED_QUATERNION);
  		this->inverse(p);
  		return p;
  	}
  
  	/** Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the
  	 * mean, and the covariance matrix are updated). */
  	void operator+=(const CPose3DQuat& Ap);
  	/** Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the
  	 * mean, and the covariance matrix are updated) (see formulas in
  	 * jacobiansPoseComposition ). */
  	void operator+=(const CPose3DQuatPDFGaussian& Ap);
  	/** Makes: thisPDF = thisPDF - Ap, where "-" is pose inverse composition
  	 * (both the mean, and the covariance matrix are updated). */
  	void operator-=(const CPose3DQuatPDFGaussian& Ap);
  
  	/** Evaluates the PDF at a given point. */
  	double evaluatePDF(const CPose3DQuat& x) const;
  
  	/** Evaluates the ratio PDF(x) / PDF(MEAN), that is, the normalized PDF in
  	 * the range [0,1]. */
  	double evaluateNormalizedPDF(const CPose3DQuat& x) const;
  
  	/** Computes the Mahalanobis distance between the centers of two Gaussians.
  	  *  The variables with a variance exactly equal to 0 are not taken into
  	 * account in the process, but
  	  *   "infinity" is returned if the corresponding elements are not exactly
  	 * equal. */
  	double mahalanobisDistanceTo(const CPose3DQuatPDFGaussian& theOther);
  
  };  // End of class def.
  
  bool operator==(
  	const CPose3DQuatPDFGaussian& p1, const CPose3DQuatPDFGaussian& p2);
  /** Pose composition for two 3D pose Gaussians  \sa
   * CPose3DQuatPDFGaussian::operator += */
  CPose3DQuatPDFGaussian operator+(
  	const CPose3DQuatPDFGaussian& x, const CPose3DQuatPDFGaussian& u);
  /** Inverse pose composition for two 3D pose Gaussians  \sa
   * CPose3DQuatPDFGaussian::operator -= */
  CPose3DQuatPDFGaussian operator-(
  	const CPose3DQuatPDFGaussian& x, const CPose3DQuatPDFGaussian& u);
  
  /** Dumps the mean and covariance matrix to a text stream. */
  std::ostream& operator<<(std::ostream& out, const CPose3DQuatPDFGaussian& obj);
  
  }  // End of namespace
  
  namespace global_settings
  {
  /** If set to true (default), a Scaled Unscented Transform is used instead of a
    *linear approximation with Jacobians.
    * Affects to:
    *		- CPose3DQuatPDFGaussian::copyFrom(const CPose3DPDFGaussian &o)
    *		- CPose3DQuatPDFGaussianInf::copyFrom(const CPose3DPDFGaussianInf &o)
    */
  void USE_SUT_EULER2QUAT_CONVERSION(bool value);
  bool USE_SUT_EULER2QUAT_CONVERSION();
  }
  
  }  // End of namespace
  
  