CPose3DPDFParticles CMonteCarloLocalization3D_inverse(
CMonteCarloLocalization3D& self)
{
CPose3DPDFParticles o;
self.inverse(o);
return o;
}
CPose3D CMonteCarloLocalization3D_drawSingleSample(
CMonteCarloLocalization3D& self)
{
CPose3D outPart;
self.drawSingleSample(outPart);
return outPart;
}
mrpt::opengl::CSetOfObjects::Ptr CMonteCarloLocalization3D_getAs3DObject(
CMonteCarloLocalization3D& self)
{
mrpt::opengl::CSetOfObjects::Ptr outObj =
mrpt::make_aligned_shared<mrpt::opengl::CSetOfObjects>();
self.getAs3DObject(outObj);
return outObj;
}
void CMonteCarloLocalization3D_prediction_and_update(
CMonteCarloLocalization3D& self,
const mrpt::obs::CActionCollection::Ptr action,
const mrpt::obs::CSensoryFrame::Ptr observation,
const CParticleFilter::TParticleFilterOptions& PF_options)
{
self.prediction_and_update(action.get(), observation.get(), PF_options);
}
tuple CMonteCarloLocalization3D_normalizeWeights(CMonteCarloLocalization3D& self)
{
list ret_val;
double out_max_log_w;
double norm = self.normalizeWeights(&out_max_log_w);
ret_val.append(norm);
ret_val.append(out_max_log_w);
return tuple(ret_val);
}
tuple CMonteCarloLocalization3D_getCovarianceAndMean(CMonteCarloLocalization3D& self)
{
list ret_val;
mrpt::math::CMatrixDouble66 cov;
CPose3D mean_point;
self.getCovarianceAndMean(cov, mean_point);
ret_val.append(cov);
ret_val.append(mean_point);
return tuple(ret_val);
}
void CMonteCarloLocalization3D_readParticlesFromStream(
CMonteCarloLocalization3D& self, CStream& in)
{
auto arch = mrpt::serialization::archiveFrom(in);
self.readParticlesFromStream(arch);
}
void CMonteCarloLocalization3D_writeParticlesToStream(
CMonteCarloLocalization3D& self, CStream& out)
{
auto arch = mrpt::serialization::archiveFrom(out);
self.writeParticlesToStream(arch);
}
CPose3D CMonteCarloLocalization3D_getMean(CMonteCarloLocalization3D& self)
{
CPose3D mean;
self.getMean(mean);
return mean;
}
mrpt::opengl::CSetOfObjectsPtr CMonteCarloLocalization3D_getAs3DObject(CMonteCarloLocalization3D& self)
{
mrpt::opengl::CSetOfObjectsPtr outObj = mrpt::opengl::CSetOfObjects::Create();
self.getAs3DObject(outObj);
return outObj;
}
void CMonteCarloLocalization3D_readParticlesFromStream(CMonteCarloLocalization3D& self, CStream &in)
{
self.readParticlesFromStream(in);
}
void CMonteCarloLocalization3D_writeParticlesToStream(CMonteCarloLocalization3D& self, CStream &out)
{
self.writeParticlesToStream(out);
}
void CMonteCarloLocalization3D_prediction_and_update_pfAuxiliaryPFOptimal(CMonteCarloLocalization3D& self, const mrpt::obs::CActionCollectionPtr action, const mrpt::obs::CSensoryFramePtr observation, const CParticleFilter::TParticleFilterOptions &PF_options)
{
self.prediction_and_update_pfAuxiliaryPFOptimal(action.pointer(), observation.pointer(), PF_options);
}