mrpt::poses::CPose3DQuatPDF Class Reference

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...

#include <mrpt/poses/CPose3DQuatPDF.h>

Inheritance diagram for mrpt::poses::CPose3DQuatPDF:

[legend]

Collaboration diagram for mrpt::poses::CPose3DQuatPDF:

[legend]

List of all members.

Public Member Functions
virtual void	copyFrom (const CPose3DQuatPDF &o)=0
	Copy operator, translating if necesary (for example, between particles and gaussian representations).
virtual void	bayesianFusion (const CPose3DQuatPDF &p1, const CPose3DQuatPDF &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 (CPose3DQuatPDF &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 CPose3DQuatPDF *	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 CPose3DQuatPDF.

---

Detailed Description

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].

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.
• For a similar class for 3D poses (with Euler angles instead of quaternions), see CPose3DPDF.

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

See also:

CPose3DQuatPDF, CPose3DPDF

Definition at line 62 of file CPose3DQuatPDF.h.

---

Member Function Documentation

virtual void mrpt::poses::CPose3DQuatPDF::bayesianFusion	(	const CPose3DQuatPDF &	p1,
		const CPose3DQuatPDF &	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).

virtual void mrpt::poses::CPose3DQuatPDF::copyFrom

(

const CPose3DQuatPDF &

o

)

[pure virtual]

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

See also:

createFrom2D

static CPose3DQuatPDF* mrpt::poses::CPose3DQuatPDF::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 CPose3DQuatPDF.

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

See also:

copyFrom

template<class OPENGL_SETOFOBJECTSPTR >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DQuatPDF::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 100 of file CPose3DQuatPDF.h.

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPose3DQuatPDF::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 92 of file CPose3DQuatPDF.h.

virtual void mrpt::poses::CPose3DQuatPDF::inverse

(

CPose3DQuatPDF &

o

)

const [pure virtual]

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