Declares a class that represents a probability density function (pdf) of a 2D pose (x,y,phi).
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.
See also the tutorial on probabilistic spatial representations in the MRPT.
Definition at line 58 of file CPosePDF.h.
#include <mrpt/poses/CPosePDF.h>
Public Types | |
enum | { is_3D_val = 0 } |
enum | { is_PDF_val = 1 } |
Public Member Functions | |
MRPT_DECLARE_DEPRECATED_FUNCTION ("**deprecated** Use getMean instead", CPose2D getEstimatedPose() const ) | |
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF) | |
virtual void | copyFrom (const CPosePDF &o)=0 |
Copy operator, translating if necesary (for example, between particles and gaussian representations) | |
virtual void | bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0)=0 |
Bayesian fusion of two pose 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!) | |
virtual void | inverse (CPosePDF &o) const =0 |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. | |
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 | classCPosePDF |
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 89 of file CPosePDF.h.
anonymous enum |
Definition at line 91 of file CPosePDF.h.
static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDF::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::utils::CSerializable.
Reimplemented in mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGrid, mrpt::poses::CPosePDFParticles, and mrpt::poses::CPosePDFSOG.
virtual void mrpt::poses::CPosePDF::bayesianFusion | ( | const CPosePDF & | p1, |
const CPosePDF & | p2, | ||
const double & | minMahalanobisDistToDrop = 0 |
||
) | [pure virtual] |
Bayesian fusion of two pose 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::CPosePDFGaussian, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGrid, mrpt::poses::CPosePDFParticles, and mrpt::poses::CPosePDFSOG.
virtual void mrpt::poses::CPosePDF::copyFrom | ( | const CPosePDF & | o ) | [pure virtual] |
Copy operator, translating if necesary (for example, between particles and gaussian representations)
Implemented in mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGrid, mrpt::poses::CPosePDFParticles, and mrpt::poses::CPosePDFSOG.
void mrpt::poses::CPosePDF::getAs3DObject | ( | OPENGL_SETOFOBJECTSPTR & | out_obj ) | const [inline] |
Returns a 3D representation of this PDF.
Definition at line 98 of file CPosePDF.h.
OPENGL_SETOFOBJECTSPTR mrpt::poses::CPosePDF::getAs3DObject | ( | ) | const [inline] |
Returns a 3D representation of this PDF.
Definition at line 106 of file CPosePDF.h.
virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDF::GetRuntimeClass | ( | ) | const [virtual] |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
Reimplemented in mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGrid, mrpt::poses::CPosePDFParticles, and mrpt::poses::CPosePDFSOG.
virtual void mrpt::poses::CPosePDF::inverse | ( | CPosePDF & | o ) | const [pure virtual] |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
Implemented in mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGrid, mrpt::poses::CPosePDFParticles, and mrpt::poses::CPosePDFSOG.
static bool mrpt::poses::CPosePDF::is_3D | ( | ) | [inline, static] |
Definition at line 90 of file CPosePDF.h.
static bool mrpt::poses::CPosePDF::is_PDF | ( | ) | [inline, static] |
Definition at line 92 of file CPosePDF.h.
mrpt::poses::CPosePDF::MRPT_DECLARE_DEPRECATED_FUNCTION | ( | "**deprecated** Use getMean instead" | , |
CPose2D getEstimatedPose() | const | ||
) | [inline] |
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF)
Definition at line 65 of file CPosePDF.h.
friend class mrpt::utils::CStream [friend] |
Reimplemented from mrpt::utils::CSerializable.
Definition at line 60 of file CPosePDF.h.
const mrpt::utils::TRuntimeClassId mrpt::poses::CPosePDF::classCPosePDF [static] |
Definition at line 60 of file CPosePDF.h.
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