Classes for 2D/3D geometry representation, both of single values and probability density distributions (PDFs) in many forms.
Namespaces |
namespace | detail |
| Internal functions for MRPT.
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Classes |
class | CNetworkOfPoses |
| A directed graph of pose constraints, with edges being the relative pose between pairs of nodes indentified by their numeric IDs (of type TNodeID). More...
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struct | CNetworkOfPoses2DPtr |
struct | CNetworkOfPoses3DPtr |
struct | CNetworkOfPoses2DCovPtr |
struct | CNetworkOfPoses3DCovPtr |
struct | CNetworkOfPoses2DInfPtr |
struct | CNetworkOfPoses3DInfPtr |
class | CNetworkOfPoses2D |
| The specialization of CNetworkOfPoses for poses of type CPose2D (not a PDF!), also implementing serialization. More...
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class | CNetworkOfPoses3D |
| The specialization of CNetworkOfPoses for poses of type CPose3D (not a PDF!), also implementing serialization. More...
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class | CNetworkOfPoses2DCov |
| The specialization of CNetworkOfPoses for poses of type CPosePDFGaussian, also implementing serialization. More...
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class | CNetworkOfPoses3DCov |
| The specialization of CNetworkOfPoses for poses of type CPose3DPDFGaussian, also implementing serialization. More...
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class | CNetworkOfPoses2DInf |
| The specialization of CNetworkOfPoses for poses of type CPosePDFGaussianInf, also implementing serialization. More...
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class | CNetworkOfPoses3DInf |
| The specialization of CNetworkOfPoses for poses of type CPose3DPDFGaussianInf, also implementing serialization. More...
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class | CPoint |
| A base class for representing a point in 2D or 3D. More...
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struct | CPoint2DPtr |
class | CPoint2D |
| A class used to store a 2D point. More...
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struct | CPoint2DPDFPtr |
class | CPoint2DPDF |
| Declares a class that represents a Probability Distribution function (PDF) of a 2D point (x,y). More...
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struct | CPoint2DPDFGaussianPtr |
class | CPoint2DPDFGaussian |
| A gaussian distribution for 2D points. More...
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struct | CPoint3DPtr |
class | CPoint3D |
| A class used to store a 3D point. More...
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struct | CPointPDFPtr |
class | CPointPDF |
| Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x,y,z). More...
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struct | CPointPDFGaussianPtr |
class | CPointPDFGaussian |
| A gaussian distribution for 3D points. More...
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struct | TSimple3DPointPtr |
class | TSimple3DPoint |
| Data within each particle. More...
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struct | CPointPDFParticlesPtr |
class | CPointPDFParticles |
| A probability distribution of a 2D/3D point, represented as a set of random samples (particles). More...
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struct | CPointPDFSOGPtr |
class | CPointPDFSOG |
| Declares a class that represents a Probability Density function (PDF) of a 3D point . More...
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class | CPose |
| A base class for representing a pose in 2D or 3D. More...
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struct | CPose2DPtr |
class | CPose2D |
| A class used to store a 2D pose. More...
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class | CPose2DGridTemplate |
| This is a template class for storing a 3D (2D+heading) grid containing any kind of data. More...
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struct | CPose3DPtr |
class | CPose3D |
| A class used to store a 3D pose (a 3D translation + a rotation in 3D). More...
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struct | CPose3DInterpolatorPtr |
class | CPose3DInterpolator |
| A trajectory in time and in 6D (CPose3D) that interpolates using splines the intervals between a set of given time-referenced poses. More...
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struct | CPose3DPDFPtr |
class | CPose3DPDF |
| Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually). More...
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struct | CPose3DPDFGaussianPtr |
class | CPose3DPDFGaussian |
| Declares a class that represents a Probability Density function (PDF) of a 3D pose . More...
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struct | CPose3DPDFGaussianInfPtr |
class | CPose3DPDFGaussianInf |
| Declares a class that represents a Probability Density function (PDF) of a 3D pose as a Gaussian described by its mean and its inverse covariance matrix. More...
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struct | CPose3DPDFParticlesPtr |
class | CPose3DPDFParticles |
| Declares a class that represents a Probability Density function (PDF) of a 3D pose. More...
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struct | CPose3DPDFSOGPtr |
class | CPose3DPDFSOG |
| Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose . More...
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struct | CPose3DQuatPtr |
class | CPose3DQuat |
| A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz). More...
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struct | CPose3DQuatPDFPtr |
class | CPose3DQuatPDF |
| Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually), by means of a 7-vector with a translation [x y z] and a quaternion [qr qx qy qz]. More...
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struct | CPose3DQuatPDFGaussianPtr |
class | CPose3DQuatPDFGaussian |
| Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion . More...
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class | CPoseOrPoint |
| The base template class for 2D & 3D points and poses. More...
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struct | CPosePDFPtr |
class | CPosePDF |
| Declares a class that represents a probability density function (pdf) of a 2D pose (x,y,phi). More...
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struct | CPosePDFGaussianPtr |
class | CPosePDFGaussian |
| Declares a class that represents a Probability Density function (PDF) of a 2D pose . More...
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struct | CPosePDFGaussianInfPtr |
class | CPosePDFGaussianInf |
| A Probability Density function (PDF) of a 2D pose as a Gaussian with a mean and the inverse of the covariance. More...
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struct | CPosePDFGridPtr |
class | CPosePDFGrid |
| Declares a class that represents a Probability Distribution function (PDF) of a 2D pose (x,y,phi). More...
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struct | CPosePDFParticlesPtr |
class | CPosePDFParticles |
| Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x,y,phi), using a set of weighted samples. More...
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struct | CPosePDFSOGPtr |
class | CPosePDFSOG |
| Declares a class that represents a Probability Density function (PDF) of a 2D pose . More...
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class | CPoseRandomSampler |
| An efficient generator of random samples drawn from a given 2D (CPosePDF) or 3D (CPose3DPDF) pose probability density function (pdf). More...
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struct | CPoses2DSequencePtr |
class | CPoses2DSequence |
| This class stores a sequence of relative, incremental 2D poses. More...
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struct | CPoses3DSequencePtr |
class | CPoses3DSequence |
| This class stores a sequence of relative, incremental 3D poses. More...
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class | CRobot2DPoseEstimator |
| A simple filter to estimate and extrapolate the robot 2D (x,y,phi) pose from asynchronous odometry and localization data. More...
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struct | SE_traits< 3 > |
| Specialization of SE for 3D poses. More...
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struct | SE_traits< 2 > |
| Specialization of SE for 2D poses. More...
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Typedefs |
typedef
mrpt::aligned_containers
< CPose2D >::vector_t | StdVector_CPose2D |
| Eigen aligment-compatible container.
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typedef
mrpt::aligned_containers
< CPose2D >::deque_t | StdDeque_CPose2D |
| Eigen aligment-compatible container.
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typedef std::pair
< mrpt::system::TTimeStamp,
mrpt::poses::CPose3D > | TTimePosePair |
typedef CProbabilityParticle
< CPose3D > | CPose3DParticle |
| A type definition for m_particles containing a 3D pose.
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Enumerations |
enum | TConstructorFlags_Poses { UNINITIALIZED_POSE = 0
} |
Functions |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CNetworkOfPoses2DPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CNetworkOfPoses3DPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CNetworkOfPoses2DCovPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CNetworkOfPoses3DCovPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CNetworkOfPoses2DInfPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CNetworkOfPoses3DInfPtr &pObj) |
template<class DERIVEDCLASS > |
std::ostream & | operator<< (std::ostream &o, const CPoint< DERIVEDCLASS > &p) |
| Dumps a point as a string [x,y] or [x,y,z].
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template<class DERIVEDCLASS > |
bool | operator< (const CPoint< DERIVEDCLASS > &a, const CPoint< DERIVEDCLASS > &b) |
| Used by STL algorithms.
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template<class DERIVEDCLASS > |
bool | operator== (const CPoint< DERIVEDCLASS > &p1, const CPoint< DERIVEDCLASS > &p2) |
template<class DERIVEDCLASS > |
bool | operator!= (const CPoint< DERIVEDCLASS > &p1, const CPoint< DERIVEDCLASS > &p2) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPoint2DPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPoint2DPDFPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPoint2DPDFGaussianPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPoint3DPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPointPDFPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPointPDFGaussianPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, TSimple3DPointPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPointPDFParticlesPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPointPDFSOGPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPose2DPtr &pObj) |
std::ostream BASE_IMPEXP & | operator<< (std::ostream &o, const CPose2D &p) |
CPose2D BASE_IMPEXP | operator- (const CPose2D &p) |
| Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y phi)
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mrpt::math::TPoint2D BASE_IMPEXP | operator+ (const CPose2D &pose, const mrpt::math::TPoint2D &pnt) |
| Compose a 2D point from a new coordinate base given by a 2D pose.
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bool BASE_IMPEXP | operator== (const CPose2D &p1, const CPose2D &p2) |
bool BASE_IMPEXP | operator!= (const CPose2D &p1, const CPose2D &p2) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPose3DPtr &pObj) |
std::ostream BASE_IMPEXP & | operator<< (std::ostream &o, const CPose3D &p) |
CPose3D BASE_IMPEXP | operator- (const CPose3D &p) |
| Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y z yaw pitch roll)
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bool BASE_IMPEXP | operator== (const CPose3D &p1, const CPose3D &p2) |
bool BASE_IMPEXP | operator!= (const CPose3D &p1, const CPose3D &p2) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPose3DInterpolatorPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPose3DPDFPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPose3DPDFGaussianPtr &pObj) |
CPose3DPDFGaussian | operator+ (const CPose3DPDFGaussian &x, const CPose3DPDFGaussian &u) |
| Pose composition for two 3D pose Gaussians.
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CPose3DPDFGaussian | operator- (const CPose3DPDFGaussian &x, const CPose3DPDFGaussian &u) |
| Pose composition for two 3D pose Gaussians.
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std::ostream BASE_IMPEXP & | operator<< (std::ostream &out, const CPose3DPDFGaussian &obj) |
| Dumps the mean and covariance matrix to a text stream.
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bool BASE_IMPEXP | operator== (const CPose3DPDFGaussian &p1, const CPose3DPDFGaussian &p2) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPose3DPDFGaussianInfPtr &pObj) |
CPose3DPDFGaussianInf | operator+ (const CPose3DPDFGaussianInf &x, const CPose3DPDFGaussianInf &u) |
| Pose composition for two 3D pose Gaussians.
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CPose3DPDFGaussianInf | operator- (const CPose3DPDFGaussianInf &x, const CPose3DPDFGaussianInf &u) |
| Pose composition for two 3D pose Gaussians.
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std::ostream BASE_IMPEXP & | operator<< (std::ostream &out, const CPose3DPDFGaussianInf &obj) |
| Dumps the mean and covariance matrix to a text stream.
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bool BASE_IMPEXP | operator== (const CPose3DPDFGaussianInf &p1, const CPose3DPDFGaussianInf &p2) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPose3DPDFParticlesPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPose3DPDFSOGPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPose3DQuatPtr &pObj) |
std::ostream BASE_IMPEXP & | operator<< (std::ostream &o, const CPose3DQuat &p) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPose3DQuatPDFPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPose3DQuatPDFGaussianPtr &pObj) |
CPose3DQuatPDFGaussian | operator+ (const CPose3DQuatPDFGaussian &x, const CPose3DQuatPDFGaussian &u) |
| Pose composition for two 3D pose Gaussians.
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CPose3DQuatPDFGaussian | operator- (const CPose3DQuatPDFGaussian &x, const CPose3DQuatPDFGaussian &u) |
| Inverse pose composition for two 3D pose Gaussians.
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std::ostream BASE_IMPEXP & | operator<< (std::ostream &out, const CPose3DQuatPDFGaussian &obj) |
| Dumps the mean and covariance matrix to a text stream.
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bool BASE_IMPEXP | operator== (const CPose3DQuatPDFGaussian &p1, const CPose3DQuatPDFGaussian &p2) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPosePDFPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPosePDFGaussianPtr &pObj) |
CPosePDFGaussian | operator+ (const CPosePDFGaussian &a, const CPosePDFGaussian &b) |
| Pose compose operator: RES = A (+) B , computing both the mean and the covariance.
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CPosePDFGaussian | operator- (const CPosePDFGaussian &a, const CPosePDFGaussian &b) |
| Pose inverse compose operator: RES = A (-) B , computing both the mean and the covariance.
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std::ostream BASE_IMPEXP & | operator<< (std::ostream &out, const CPosePDFGaussian &obj) |
| Dumps the mean and covariance matrix to a text stream.
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poses::CPosePDFGaussian BASE_IMPEXP | operator+ (const mrpt::poses::CPose2D &A, const mrpt::poses::CPosePDFGaussian &B) |
| Returns the Gaussian distribution of , for .
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bool BASE_IMPEXP | operator== (const CPosePDFGaussian &p1, const CPosePDFGaussian &p2) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPosePDFGaussianInfPtr &pObj) |
CPosePDFGaussianInf | operator+ (const CPosePDFGaussianInf &a, const CPosePDFGaussianInf &b) |
| Pose compose operator: RES = A (+) B , computing both the mean and the covariance.
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CPosePDFGaussianInf | operator- (const CPosePDFGaussianInf &a, const CPosePDFGaussianInf &b) |
| Pose inverse compose operator: RES = A (-) B , computing both the mean and the covariance.
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std::ostream BASE_IMPEXP & | operator<< (std::ostream &out, const CPosePDFGaussianInf &obj) |
| Dumps the mean and covariance matrix to a text stream.
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poses::CPosePDFGaussianInf
BASE_IMPEXP | operator+ (const mrpt::poses::CPose2D &A, const mrpt::poses::CPosePDFGaussianInf &B) |
| Returns the Gaussian distribution of , for .
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bool BASE_IMPEXP | operator== (const CPosePDFGaussianInf &p1, const CPosePDFGaussianInf &p2) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPosePDFGridPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPosePDFParticlesPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPosePDFSOGPtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPoses2DSequencePtr &pObj) |
::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPoses3DSequencePtr &pObj) |
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template<class POSE > |
const POSE::type_value & | getPoseMean (const POSE &p) |
template<class POSE > |
POSE::type_value & | getPoseMean (POSE &p) |
template<> |
const CPose2D & | getPoseMean< CPose2D > (const CPose2D &p) |
template<> |
const CPose3D & | getPoseMean< CPose3D > (const CPose3D &p) |
template<> |
const CPose3DQuat & | getPoseMean< CPose3DQuat > (const CPose3DQuat &p) |
template<> |
CPose2D & | getPoseMean< CPose2D > (CPose2D &p) |
template<> |
CPose3D & | getPoseMean< CPose3D > (CPose3D &p) |
template<> |
CPose3DQuat & | getPoseMean< CPose3DQuat > (CPose3DQuat &p) |
template<> |
const CPose2D & | getPoseMean< CPosePDFGaussian > (const CPosePDFGaussian &p) |
template<> |
const CPose2D & | getPoseMean< CPosePDFGaussianInf > (const CPosePDFGaussianInf &p) |
template<> |
const CPose3D & | getPoseMean< CPose3DPDFGaussian > (const CPose3DPDFGaussian &p) |
template<> |
const CPose3D & | getPoseMean< CPose3DPDFGaussianInf > (const CPose3DPDFGaussianInf &p) |
template<> |
const CPose3DQuat & | getPoseMean< CPose3DQuatPDFGaussian > (const CPose3DQuatPDFGaussian &p) |
template<> |
CPose2D & | getPoseMean< CPosePDFGaussian > (CPosePDFGaussian &p) |
template<> |
CPose2D & | getPoseMean< CPosePDFGaussianInf > (CPosePDFGaussianInf &p) |
template<> |
CPose3D & | getPoseMean< CPose3DPDFGaussian > (CPose3DPDFGaussian &p) |
template<> |
CPose3D & | getPoseMean< CPose3DPDFGaussianInf > (CPose3DPDFGaussianInf &p) |
template<> |
CPose3DQuat & | getPoseMean< CPose3DQuatPDFGaussian > (CPose3DQuatPDFGaussian &p) |
Variables |
class BASE_IMPEXP | CPose3DQuat |
struct BASE_IMPEXP | SE_traits |
| A helper class for SE(2) and SE(3) geometry-related transformations, on-manifold optimization Jacobians, etc.
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