mrpt::poses::CPose3DPDF Class Reference

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Detailed Description

Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually).

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 3D points (without attitude), see CPointPDF

See also the tutorial on probabilistic spatial representations in the MRPT.

See also:

CPose3D, CPosePDF, CPointPDF

Definition at line 61 of file CPose3DPDF.h.

#include <mrpt/poses/CPose3DPDF.h>

Inheritance diagram for mrpt::poses::CPose3DPDF:

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", CPose3D getEstimatedPose() const )
	Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF)
virtual void	copyFrom (const CPose3DPDF &o)=0
	Copy operator, translating if necesary (for example, between particles and gaussian representations)
virtual void	bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2)=0
	Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently only distributions of the same class can be fused! eg, gaussian with gaussian,etc)
virtual void	inverse (CPose3DPDF &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 CPose3DPDF *	createFrom2D (const CPosePDF &o)
	This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of CPose3DPDF.
static bool	is_3D ()
static bool	is_PDF ()
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCPose3DPDF
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.

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Member Enumeration Documentation

anonymous enum

Enumerator:

is_3D_val

Definition at line 96 of file CPose3DPDF.h.

anonymous enum

Enumerator:

is_PDF_val

Definition at line 98 of file CPose3DPDF.h.

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Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDF::_GetBaseClass

(

)

[static, protected]

Reimplemented from mrpt::utils::CSerializable.

Reimplemented in mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPose3DPDFGaussianInf, mrpt::poses::CPose3DPDFParticles, and mrpt::poses::CPose3DPDFSOG.

virtual void mrpt::poses::CPose3DPDF::bayesianFusion	(	const CPose3DPDF &	p1,
		const CPose3DPDF &	p2
	)		[pure virtual]

Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently only distributions of the same class can be fused! eg, gaussian with gaussian,etc)

Implemented in mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPose3DPDFGaussianInf, mrpt::poses::CPose3DPDFParticles, and mrpt::poses::CPose3DPDFSOG.

virtual void mrpt::poses::CPose3DPDF::copyFrom

(

const CPose3DPDF &

o )

[pure virtual]

Copy operator, translating if necesary (for example, between particles and gaussian representations)

See also:

createFrom2D

Implemented in mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPose3DPDFGaussianInf, mrpt::poses::CPose3DPDFParticles, and mrpt::poses::CPose3DPDFSOG.

static CPose3DPDF* mrpt::poses::CPose3DPDF::createFrom2D

(

const CPosePDF &

o )

[static]

This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of CPose3DPDF.

This object must be deleted by the user when not required anymore.

See also:

copyFrom

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPose3DPDF::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 105 of file CPose3DPDF.h.

template<class OPENGL_SETOFOBJECTSPTR >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DPDF::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 113 of file CPose3DPDF.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DPDF::GetRuntimeClass

(

)

const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

Reimplemented in mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPose3DPDFGaussianInf, mrpt::poses::CPose3DPDFParticles, and mrpt::poses::CPose3DPDFSOG.

virtual void mrpt::poses::CPose3DPDF::inverse

(

CPose3DPDF &

o )

const [pure virtual]

Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.

Implemented in mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPose3DPDFGaussianInf, mrpt::poses::CPose3DPDFParticles, and mrpt::poses::CPose3DPDFSOG.

static bool mrpt::poses::CPose3DPDF::is_3D

(

)

[inline, static]

Definition at line 97 of file CPose3DPDF.h.

static bool mrpt::poses::CPose3DPDF::is_PDF

(

)

[inline, static]

Definition at line 99 of file CPose3DPDF.h.

mrpt::poses::CPose3DPDF::MRPT_DECLARE_DEPRECATED_FUNCTION	(	"**deprecated** Use getMean instead"	,
		CPose3D getEstimatedPose()	const
	)		[inline]

Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF)

Definition at line 69 of file CPose3DPDF.h.

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Friends And Related Function Documentation

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

Reimplemented from mrpt::utils::CSerializable.

Definition at line 63 of file CPose3DPDF.h.

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Member Data Documentation

const mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DPDF::classCPose3DPDF [static]

Definition at line 63 of file CPose3DPDF.h.