Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x,y,z).
This class is just the base class for unifying many diferent ways this PDF can be implemented.
For convenience, a pose composition is also defined for any PDF derived class, changeCoordinatesReference, in the form of a method rather than an operator.
For a similar class for 6D poses (a 3D point with attitude), see CPose3DPDF
See also the tutorial on probabilistic spatial representations in the MRPT.
Definition at line 60 of file CPointPDF.h.
#include <mrpt/poses/CPointPDF.h>
Public Types | |
enum | { is_3D_val = 1 } |
enum | { is_PDF_val = 1 } |
Public Member Functions | |
MRPT_DECLARE_DEPRECATED_FUNCTION ("**deprecated** Use getMean instead", CPoint3D getEstimatedPoint() const ) | |
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF) | |
virtual void | copyFrom (const CPointPDF &o)=0 |
Copy operator, translating if necesary (for example, between particles and gaussian representations) | |
virtual void | bayesianFusion (const CPointPDF &p1, const CPointPDF &p2, const double &minMahalanobisDistToDrop=0)=0 |
Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!) | |
template<class OPENGL_SETOFOBJECTSPTR > | |
void | getAs3DObject (OPENGL_SETOFOBJECTSPTR &out_obj) const |
Returns a 3D representation of this PDF. | |
template<class OPENGL_SETOFOBJECTSPTR > | |
OPENGL_SETOFOBJECTSPTR | getAs3DObject () const |
Returns a 3D representation of this PDF. | |
Static Public Member Functions | |
static bool | is_3D () |
static bool | is_PDF () |
RTTI stuff | |
static const mrpt::utils::TRuntimeClassId | classCPointPDF |
class | mrpt::utils::CStream |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
Returns information about the class of an object in runtime. |
anonymous enum |
Definition at line 87 of file CPointPDF.h.
anonymous enum |
Definition at line 89 of file CPointPDF.h.
static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPointPDF::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::utils::CSerializable.
Reimplemented in mrpt::poses::CPointPDFGaussian, mrpt::poses::CPointPDFParticles, mrpt::poses::CPointPDFSOG, and mrpt::slam::CBeacon.
virtual void mrpt::poses::CPointPDF::bayesianFusion | ( | const CPointPDF & | p1, |
const CPointPDF & | p2, | ||
const double & | minMahalanobisDistToDrop = 0 |
||
) | [pure virtual] |
Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!)
p1 | The first distribution to fuse |
p2 | The second distribution to fuse |
minMahalanobisDistToDrop | If set to different of 0, the result of very separate Gaussian modes (that will result in negligible components) in SOGs will be dropped to reduce the number of modes in the output. |
Implemented in mrpt::poses::CPointPDFGaussian, mrpt::poses::CPointPDFParticles, mrpt::poses::CPointPDFSOG, and mrpt::slam::CBeacon.
virtual void mrpt::poses::CPointPDF::copyFrom | ( | const CPointPDF & | o ) | [pure virtual] |
Copy operator, translating if necesary (for example, between particles and gaussian representations)
Implemented in mrpt::poses::CPointPDFGaussian, mrpt::poses::CPointPDFParticles, mrpt::poses::CPointPDFSOG, and mrpt::slam::CBeacon.
void mrpt::poses::CPointPDF::getAs3DObject | ( | OPENGL_SETOFOBJECTSPTR & | out_obj ) | const [inline] |
Returns a 3D representation of this PDF.
Definition at line 96 of file CPointPDF.h.
OPENGL_SETOFOBJECTSPTR mrpt::poses::CPointPDF::getAs3DObject | ( | ) | const [inline] |
Returns a 3D representation of this PDF.
Definition at line 104 of file CPointPDF.h.
virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPointPDF::GetRuntimeClass | ( | ) | const [virtual] |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
Reimplemented in mrpt::poses::CPointPDFGaussian, mrpt::poses::CPointPDFParticles, mrpt::poses::CPointPDFSOG, and mrpt::slam::CBeacon.
static bool mrpt::poses::CPointPDF::is_3D | ( | ) | [inline, static] |
Definition at line 88 of file CPointPDF.h.
static bool mrpt::poses::CPointPDF::is_PDF | ( | ) | [inline, static] |
Definition at line 90 of file CPointPDF.h.
mrpt::poses::CPointPDF::MRPT_DECLARE_DEPRECATED_FUNCTION | ( | "**deprecated** Use getMean instead" | , |
CPoint3D getEstimatedPoint() | const | ||
) | [inline] |
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF)
Definition at line 67 of file CPointPDF.h.
friend class mrpt::utils::CStream [friend] |
Reimplemented from mrpt::utils::CSerializable.
Definition at line 62 of file CPointPDF.h.
Definition at line 62 of file CPointPDF.h.
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