00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef pose_pdfs_H 00029 #define pose_pdfs_H 00030 00031 #include <mrpt/opengl/CSetOfObjects.h> 00032 #include <mrpt/poses/opengl_frwd_decl.h> 00033 #include <mrpt/poses/CPointPDF.h> 00034 #include <mrpt/poses/CPosePDF.h> 00035 #include <mrpt/poses/CPose3DPDF.h> 00036 #include <mrpt/poses/CPose3DQuatPDF.h> 00037 00038 namespace mrpt 00039 { 00040 namespace opengl 00041 { 00042 /** @name A set of functions to obtain a 3D representation of a pose PDF (these functions are in the mrpt-opengl library) 00043 @{ */ 00044 00045 /** Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call 00046 * mrpt::poses::CPosePDF::getAs3DObject */ 00047 template <> 00048 CSetOfObjectsPtr OPENGL_IMPEXP posePDF2opengl<CPosePDF,CSetOfObjectsPtr>(const CPosePDF &o); 00049 00050 /** Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call 00051 * mrpt::poses::CPointPDF::getAs3DObject */ 00052 template <> 00053 CSetOfObjectsPtr OPENGL_IMPEXP posePDF2opengl<CPointPDF,CSetOfObjectsPtr>(const CPointPDF &o); 00054 00055 /** Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call 00056 * mrpt::poses::CPose3DPDF::getAs3DObject */ 00057 template <> 00058 CSetOfObjectsPtr OPENGL_IMPEXP posePDF2opengl<CPose3DPDF,CSetOfObjectsPtr>(const CPose3DPDF &o); 00059 00060 /** Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call 00061 * mrpt::poses::CPose3DQuatPDF::getAs3DObject */ 00062 template <> 00063 CSetOfObjectsPtr OPENGL_IMPEXP posePDF2opengl<CPose3DQuatPDF,CSetOfObjectsPtr>(const CPose3DQuatPDF &o); 00064 00065 /** @} */ 00066 } 00067 00068 } // End of namespace 00069 00070 00071 #endif
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