/*--------------------------------------------------------------- updateSensoryFrameSequence ---------------------------------------------------------------*/ void CMultiMetricMapPDF::updateSensoryFrameSequence() { MRPT_START CPose3DPDFParticles posePartsPDF; CPose3DPDFPtr previousPosePDF; CSensoryFramePtr dummy; for (size_t i=0;i<SFs.size();i++) { // Get last estimation: SFs.get(i,previousPosePDF,dummy); // Compute the new one: getEstimatedPosePDFAtTime(SF2robotPath[i], posePartsPDF); // Copy into SFs: previousPosePDF->copyFrom( posePartsPDF ); } MRPT_END }