mrpt::poses::CPointPDF Class Reference

Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x,y,z). More...

#include <mrpt/poses/CPointPDF.h>

Inheritance diagram for mrpt::poses::CPointPDF:

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Collaboration diagram for mrpt::poses::CPointPDF:

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List of all members.

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.

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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.

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Member Function Documentation

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:

	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.

virtual void mrpt::poses::CPointPDF::copyFrom

(

const CPointPDF &

o

)

[pure virtual]

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

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 99 of file CPointPDF.h.

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 91 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.