Main MRPT website > C++ reference
MRPT logo

mrpt::poses Namespace Reference

Classes for 2D/3D geometry representation, both of single values and probability density distributions (PDFs) in many forms. More...

Classes

class  CNetworkOfPoses
 A network of links constraining the relative pose of pairs of nodes, indentified by their numeric IDs (of type size_t). More...
class  CPoint
 A virtual base class to represent a point in 2D or 3D. More...
class  CPoint2D
 A class used to store a 2D point. More...
class  CPoint2DPDF
 Declares a class that represents a Probability Distribution function (PDF) of a 2D point (x,y). More...
class  CPoint2DPDFGaussian
 A gaussian distribution for 2D points. More...
class  CPoint3D
 A class used to store a 3D point. More...
class  CPointPDF
 Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x,y,z). More...
class  CPointPDFGaussian
 A gaussian distribution for 3D points. More...
class  TSimple3DPoint
 Data within each particle. More...
class  CPointPDFParticles
 A probability distribution of a 2D/3D point, represented as a set of random samples (particles). More...
class  CPointPDFSOG
 Declares a class that represents a Probability Density function (PDF) of a 3D point $ p(\mathbf{x}) = [x ~ y ~ z ]^t $. More...
class  CPose
 A virtual base class to represent a pose in 2D or 3D. More...
class  CPose2D
 A class used to store a 2D pose. More...
class  CPose2DGridTemplate
 This is a template class for storing a 3D (2D+heading) grid containing any kind of data. More...
class  CPose3D
 A class used to store a 3D pose. More...
class  CPose3DInterpolator
 A trajectory in time and in 6D (CPose3D) that interpolates using splines the intervals between a set of given time-referenced poses. More...
class  CPose3DPDF
 Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually). More...
class  CPose3DPDFGaussian
 Declares a class that represents a Probability Density function (PDF) of a 3D pose $ p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t $. More...
class  CPose3DPDFParticles
 Declares a class that represents a Probability Density function (PDF) of a 3D pose. More...
class  CPose3DPDFSOG
 Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose $ p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t $. More...
class  CPose3DQuat
 A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz). More...
class  CPose3DQuatPDF
 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...
class  CPose3DQuatPDFGaussian
 Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion $ p(\mathbf{x}) = [x ~ y ~ z ~ qr ~ qx ~ qy ~ qz]^\top $. More...
class  CPoseOrPoint
 The base class for 2D points, 3D points, 2D poses and 3D poses. More...
class  CPosePDF
 Declares a class that represents a probability density function (pdf) of a 2D pose (x,y,phi). More...
class  CPosePDFGaussian
 Declares a class that represents a Probability Density function (PDF) of a 2D pose $ p(\mathbf{x}) = [x ~ y ~ \phi ]^t $. More...
class  CPosePDFGrid
 Declares a class that represents a Probability Distribution function (PDF) of a 2D pose (x,y,phi). More...
class  CPosePDFParticles
 Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x,y,phi), using a set of weighted samples. More...
class  CPosePDFSOG
 Declares a class that represents a Probability Density function (PDF) of a 2D pose $ p(\mathbf{x}) = [x ~ y ~ \phi ]^t $. More...
class  CPoseRandomSampler
 An efficient generator of random samples drawn from a given 2D (CPosePDF) or 3D (CPose3DPDF) pose probability density function (pdf). More...
class  CPoses2DSequence
 This class stores a sequence of relative, incremental 2D poses. More...
class  CPoses3DSequence
 This class stores a sequence of relative, incremental 3D poses. More...
class  CRobot2DPoseEstimator
 A simple filter to estimate and extrapolate the robot 2D (x,y,phi) pose from asynchronous odometry and localization data. More...

Typedefs

typedef CNetworkOfPoses
< CPosePDFGaussian > 		CNetworkOfPoses2D
 The specialization of CNetworkOfPoses for poses of type CPosePDFGaussian.
typedef CNetworkOfPoses
< CPose3DPDFGaussian > 		CNetworkOfPoses3D
 The specialization of CNetworkOfPoses for poses of type CPose3DPDFGaussian.
typedef std::pair
< mrpt::system::TTimeStamp,
mrpt::poses::CPose3D > 		TTimePosePair
typedef CProbabilityParticle
< CPose3D > 		CPose3DParticle
 A type definition for m_particles containing a 3D pose.

Functions

std::ostream BASE_IMPEXP & operator<< (std::ostream &o, const CPoint2D &p)
 Textual output stream function.
bool BASE_IMPEXP operator< (const CPoint2D &a, const CPoint2D &b)
 Used by STL algorithms.
bool BASE_IMPEXP operator== (const CPoint2D &p1, const CPoint2D &p2)
bool BASE_IMPEXP operator!= (const CPoint2D &p1, const CPoint2D &p2)
std::ostream BASE_IMPEXP & operator<< (std::ostream &o, const CPoint3D &p)
bool BASE_IMPEXP operator== (const CPoint3D &p1, const CPoint3D &p2)
bool BASE_IMPEXP operator!= (const CPoint3D &p1, const CPoint3D &p2)
std::ostream BASE_IMPEXP & operator<< (std::ostream &o, const CPose2D &p)
CPose2D BASE_IMPEXP operator- (const CPose2D &p)
 Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y phi).
mrpt::math::TPoint2D BASE_IMPEXP operator+ (const CPose2D &pose, const mrpt::math::TPoint2D &pnt)
 Compose a 2D point from a new coordinate base given by a 2D pose.
bool BASE_IMPEXP operator== (const CPose2D &p1, const CPose2D &p2)
bool BASE_IMPEXP operator!= (const CPose2D &p1, const CPose2D &p2)
std::ostream BASE_IMPEXP & operator<< (std::ostream &o, const CPose3D &p)
CPose3D BASE_IMPEXP operator- (const CPose3D &p)
 Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y z yaw pitch roll).
bool BASE_IMPEXP operator== (const CPose3D &p1, const CPose3D &p2)
bool BASE_IMPEXP operator!= (const CPose3D &p1, const CPose3D &p2)
CPose3DPDFGaussian operator+ (const CPose3DPDFGaussian &x, const CPose3DPDFGaussian &u)
 Pose composition for two 3D pose Gaussians.
CPose3DPDFGaussian operator- (const CPose3DPDFGaussian &x, const CPose3DPDFGaussian &u)
 Pose composition for two 3D pose Gaussians.
std::ostream BASE_IMPEXP & operator<< (std::ostream &out, const CPose3DPDFGaussian &obj)
 Dumps the mean and covariance matrix to a text stream.
bool BASE_IMPEXP operator== (const CPose3DPDFGaussian &p1, const CPose3DPDFGaussian &p2)
std::ostream BASE_IMPEXP & operator<< (std::ostream &o, const CPose3DQuat &p)
CPose3DQuatPDFGaussian operator+ (const CPose3DQuatPDFGaussian &x, const CPose3DQuatPDFGaussian &u)
 Pose composition for two 3D pose Gaussians.
CPose3DQuatPDFGaussian operator- (const CPose3DQuatPDFGaussian &x, const CPose3DQuatPDFGaussian &u)
 Inverse pose composition for two 3D pose Gaussians.
std::ostream BASE_IMPEXP & operator<< (std::ostream &out, const CPose3DQuatPDFGaussian &obj)
 Dumps the mean and covariance matrix to a text stream.
bool BASE_IMPEXP operator== (const CPose3DQuatPDFGaussian &p1, const CPose3DQuatPDFGaussian &p2)
CPosePDFGaussian operator+ (const CPosePDFGaussian &a, const CPosePDFGaussian &b)
 Pose compose operator: RES = A (+) B , computing both the mean and the covariance.
CPosePDFGaussian operator- (const CPosePDFGaussian &a, const CPosePDFGaussian &b)
 Pose inverse compose operator: RES = A (-) B , computing both the mean and the covariance.
std::ostream BASE_IMPEXP & operator<< (std::ostream &out, const CPosePDFGaussian &obj)
 Dumps the mean and covariance matrix to a text stream.
poses::CPosePDFGaussian BASE_IMPEXP operator+ (const mrpt::poses::CPose2D &A, const mrpt::poses::CPosePDFGaussian &B)
 Returns the Gaussian distribution of $ \mathbf{C} $, for $ \mathbf{C} = \mathbf{A} \oplus \mathbf{B} $.
bool BASE_IMPEXP operator== (const CPosePDFGaussian &p1, const CPosePDFGaussian &p2)

Variables

class BASE_IMPEXP CPose3DQuat

Detailed Description

Classes for 2D/3D geometry representation, both of single values and probability density distributions (PDFs) in many forms.

Typedef Documentation

typedef CNetworkOfPoses<CPosePDFGaussian> mrpt::poses::CNetworkOfPoses2D

The specialization of CNetworkOfPoses for poses of type CPosePDFGaussian.

Definition at line 58 of file CNetworkOfPoses.h.

typedef CNetworkOfPoses<CPose3DPDFGaussian> mrpt::poses::CNetworkOfPoses3D

The specialization of CNetworkOfPoses for poses of type CPose3DPDFGaussian.

Definition at line 59 of file CNetworkOfPoses.h.

CProbabilityParticle< CPose3D > mrpt::poses::CPose3DParticle

A type definition for m_particles containing a 3D pose.

Definition at line 46 of file CPose3DPDFParticles.h.

typedef std::pair<mrpt::system::TTimeStamp, mrpt::poses::CPose3D> mrpt::poses::TTimePosePair

Definition at line 43 of file CPose3DInterpolator.h.

Function Documentation

bool BASE_IMPEXP mrpt::poses::operator!= ( const CPose3D &  p1,
const CPose3D &  p2 
)
bool BASE_IMPEXP mrpt::poses::operator!= ( const CPose2D &  p1,
const CPose2D &  p2 
)
bool BASE_IMPEXP mrpt::poses::operator!= ( const CPoint3D &  p1,
const CPoint3D &  p2 
)
bool BASE_IMPEXP mrpt::poses::operator!= ( const CPoint2D &  p1,
const CPoint2D &  p2 
)
poses::CPosePDFGaussian BASE_IMPEXP mrpt::poses::operator+ ( const mrpt::poses::CPose2D &  A,
const mrpt::poses::CPosePDFGaussian &  B 
)

Returns the Gaussian distribution of $ \mathbf{C} $, for $ \mathbf{C} = \mathbf{A} \oplus \mathbf{B} $.

CPosePDFGaussian mrpt::poses::operator+ ( const CPosePDFGaussian &  a,
const CPosePDFGaussian &  b 
) [inline]

Pose compose operator: RES = A (+) B , computing both the mean and the covariance.

Definition at line 211 of file CPosePDFGaussian.h.

CPose3DQuatPDFGaussian mrpt::poses::operator+ ( const CPose3DQuatPDFGaussian &  x,
const CPose3DQuatPDFGaussian &  u 
) [inline]

Pose composition for two 3D pose Gaussians.

See also:
CPose3DQuatPDFGaussian::operator +=

Definition at line 202 of file CPose3DQuatPDFGaussian.h.

CPose3DPDFGaussian mrpt::poses::operator+ ( const CPose3DPDFGaussian &  x,
const CPose3DPDFGaussian &  u 
) [inline]

Pose composition for two 3D pose Gaussians.

See also:
CPose3DPDFGaussian::operator +=

Definition at line 227 of file CPose3DPDFGaussian.h.

mrpt::math::TPoint2D BASE_IMPEXP mrpt::poses::operator+ ( const CPose2D &  pose,
const mrpt::math::TPoint2D &  pnt 
)

Compose a 2D point from a new coordinate base given by a 2D pose.

CPosePDFGaussian mrpt::poses::operator- ( const CPosePDFGaussian &  a,
const CPosePDFGaussian &  b 
) [inline]

Pose inverse compose operator: RES = A (-) B , computing both the mean and the covariance.

Definition at line 218 of file CPosePDFGaussian.h.

References mrpt::poses::CPosePDFGaussian::inverseComposition().

CPose3DQuatPDFGaussian mrpt::poses::operator- ( const CPose3DQuatPDFGaussian &  x,
const CPose3DQuatPDFGaussian &  u 
) [inline]

Inverse pose composition for two 3D pose Gaussians.

See also:
CPose3DQuatPDFGaussian::operator -=

Definition at line 210 of file CPose3DQuatPDFGaussian.h.

CPose3DPDFGaussian mrpt::poses::operator- ( const CPose3DPDFGaussian &  x,
const CPose3DPDFGaussian &  u 
) [inline]

Pose composition for two 3D pose Gaussians.

See also:
CPose3DPDFGaussian::operator -=

Definition at line 235 of file CPose3DPDFGaussian.h.

CPose3D BASE_IMPEXP mrpt::poses::operator- ( const CPose3D &  p  ) 

Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y z yaw pitch roll).

CPose2D BASE_IMPEXP mrpt::poses::operator- ( const CPose2D &  p  ) 

Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y phi).

bool BASE_IMPEXP mrpt::poses::operator< ( const CPoint2D &  a,
const CPoint2D &  b 
)

Used by STL algorithms.

std::ostream BASE_IMPEXP& mrpt::poses::operator<< ( std::ostream &  out,
const CPosePDFGaussian &  obj 
)

Dumps the mean and covariance matrix to a text stream.

std::ostream BASE_IMPEXP& mrpt::poses::operator<< ( std::ostream &  out,
const CPose3DQuatPDFGaussian &  obj 
)

Dumps the mean and covariance matrix to a text stream.

std::ostream BASE_IMPEXP& mrpt::poses::operator<< ( std::ostream &  o,
const CPose3DQuat &  p 
)
std::ostream BASE_IMPEXP& mrpt::poses::operator<< ( std::ostream &  out,
const CPose3DPDFGaussian &  obj 
)

Dumps the mean and covariance matrix to a text stream.

std::ostream BASE_IMPEXP& mrpt::poses::operator<< ( std::ostream &  o,
const CPose3D &  p 
)
std::ostream BASE_IMPEXP& mrpt::poses::operator<< ( std::ostream &  o,
const CPose2D &  p 
)
std::ostream BASE_IMPEXP& mrpt::poses::operator<< ( std::ostream &  o,
const CPoint3D &  p 
)
std::ostream BASE_IMPEXP& mrpt::poses::operator<< ( std::ostream &  o,
const CPoint2D &  p 
)

Textual output stream function.

bool BASE_IMPEXP mrpt::poses::operator== ( const CPosePDFGaussian &  p1,
const CPosePDFGaussian &  p2 
)
bool BASE_IMPEXP mrpt::poses::operator== ( const CPose3DQuatPDFGaussian &  p1,
const CPose3DQuatPDFGaussian &  p2 
)
bool BASE_IMPEXP mrpt::poses::operator== ( const CPose3DPDFGaussian &  p1,
const CPose3DPDFGaussian &  p2 
)
bool BASE_IMPEXP mrpt::poses::operator== ( const CPose3D &  p1,
const CPose3D &  p2 
)
bool BASE_IMPEXP mrpt::poses::operator== ( const CPose2D &  p1,
const CPose2D &  p2 
)
bool BASE_IMPEXP mrpt::poses::operator== ( const CPoint3D &  p1,
const CPoint3D &  p2 
)
bool BASE_IMPEXP mrpt::poses::operator== ( const CPoint2D &  p1,
const CPoint2D &  p2 
)

Referenced by mrpt::poses::CPose3DQuat::const_iterator::operator!=(), and mrpt::poses::CPose3DQuat::iterator::operator!=().

Variable Documentation

class BASE_IMPEXP mrpt::poses::CPose3DQuat

Definition at line 39 of file CPose3D.h.

 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines


Page generated by Doxygen 1.6.1 for MRPT 0.9.0 SVN: at Mon Jun 7 06:47:58 UTC 2010