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mrpt::poses::CPointPDF Class Reference


Detailed Description

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.

See also:
CPoint3D

Definition at line 60 of file CPointPDF.h.

#include <mrpt/poses/CPointPDF.h>

Inheritance diagram for mrpt::poses::CPointPDF:
Inheritance graph
[legend]

List of all members.

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.

Member Enumeration Documentation

anonymous enum
Enumerator:
is_3D_val 

Definition at line 87 of file CPointPDF.h.

anonymous enum
Enumerator:
is_PDF_val 

Definition at line 89 of file CPointPDF.h.


Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPointPDF::_GetBaseClass (  ) [static, protected]
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!)

Parameters:
p1The first distribution to fuse
p2The second distribution to fuse
minMahalanobisDistToDropIf 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.

template<class OPENGL_SETOFOBJECTSPTR >
void mrpt::poses::CPointPDF::getAs3DObject ( OPENGL_SETOFOBJECTSPTR &  out_obj ) const [inline]

Returns a 3D representation of this PDF.

Note:
Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.

Definition at line 96 of file CPointPDF.h.

template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR mrpt::poses::CPointPDF::getAs3DObject (  ) const [inline]

Returns a 3D representation of this PDF.

Note:
Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.

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.


Friends And Related Function Documentation

friend class mrpt::utils::CStream [friend]

Reimplemented from mrpt::utils::CSerializable.

Definition at line 62 of file CPointPDF.h.


Member Data Documentation

Definition at line 62 of file CPointPDF.h.




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