mrpt::poses::CPosePDF Class Reference

Declares a class that represents a probability density function (pdf) of a 2D pose (x,y,phi). More...

#include <mrpt/poses/CPosePDF.h>

Inheritance diagram for mrpt::poses::CPosePDF:

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Collaboration diagram for mrpt::poses::CPosePDF:

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List of all members.

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.

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Detailed Description

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.

See also:

CPose2D, CPose3DPDF, CPoseRandomSampler

Definition at line 58 of file CPosePDF.h.

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Member Function Documentation

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!).

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::CPosePDF::copyFrom

(

const CPosePDF &

o

)

[pure virtual]

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

template<class OPENGL_SETOFOBJECTSPTR >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPosePDF::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 102 of file CPosePDF.h.

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPosePDF::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 94 of file CPosePDF.h.

virtual void mrpt::poses::CPosePDF::inverse

(

CPosePDF &

o

)

const [pure virtual]

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

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.