C++ (Cpp) CPose2D::normalizePhi примеры использования

Пример #1

Файл: CPosePDFGaussian.cpp Проект: Triocrossing/mrpt

/*---------------------------------------------------------------
					drawSingleSample
 ---------------------------------------------------------------*/
void CPosePDFGaussian::drawSingleSample(CPose2D& outPart) const
{
	MRPT_START

	CVectorDouble v;
	getRandomGenerator().drawGaussianMultivariate(v, cov);

	outPart.x(mean.x() + v[0]);
	outPart.y(mean.y() + v[1]);
	outPart.phi(mean.phi() + v[2]);

	// Range -pi,pi
	outPart.normalizePhi();

	MRPT_END_WITH_CLEAN_UP(
		cov.saveToTextFile("__DEBUG_EXC_DUMP_drawSingleSample_COV.txt"););