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CEllipsoidRangeBearing2D.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef opengl_CEllipsoidRangeBearing2D_H
10 #define opengl_CEllipsoidRangeBearing2D_H
11 
13 
14 namespace mrpt
15 {
16  namespace opengl
17  {
18  // This must be added to any CSerializable derived class:
19  DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CEllipsoidRangeBearing2D, CRenderizableDisplayList, OPENGL_IMPEXP )
20 
21  /** An especial "ellipsoid" in 2D computed as the uncertainty iso-surfaces of a (range,bearing) variable.
22  * The parameter space of this ellipsoid comprises these variables (in this order):
23  * - range: Distance from sensor to feature.
24  * - bearing: Angle from +X to the line that goes from the sensor towards the feature.
25  *
26  * This class expects you to provide a mean vector of length 2 and a 2x2 covariance matrix, set with \a setCovMatrixAndMean().
27  *
28  * Please read the documentation of CGeneralizedEllipsoidTemplate::setQuantiles() for learning
29  * the mathematical details about setting the desired confidence interval.
30  *
31  * <div align="center">
32  * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
33  * <tr> <td> mrpt::opengl::CEllipsoidRangeBearing2D </td> <td> \image html preview_CEllipsoidRangeBearing2D.png </td> </tr>
34  * </table>
35  * </div>
36  *
37  * \ingroup mrpt_opengl_grp
38  */
40  {
43  protected:
44  /** To be implemented by derived classes: maps, using some arbitrary space transformation, a list of points
45  * defining an ellipsoid in parameter space into their corresponding points in 2D/3D space.
46  */
47  virtual void transformFromParameterSpace(
48  const std::vector<BASE::array_parameter_t> &in_pts,
49  std::vector<BASE::array_point_t> & out_pts) const MRPT_OVERRIDE;
50  private:
51  /** Constructor
52  */
54  {
55  }
56  /** Private, virtual destructor: only can be deleted from smart pointers */
58  };
59  DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CEllipsoidRangeBearing2D, CRenderizableDisplayList, OPENGL_IMPEXP )
60 
61  } // end namespace
62 
63 } // End of namespace
64 
65 #endif
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
CGeneralizedEllipsoidTemplate< 2 > BASE
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
A class that generalizes the concept of an ellipsoid to arbitrary parameterizations of uncertainty sh...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
virtual ~CEllipsoidRangeBearing2D()
Private, virtual destructor: only can be deleted from smart pointers.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
An especial "ellipsoid" in 2D computed as the uncertainty iso-surfaces of a (range,bearing) variable.



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