Computes weighted and un-weighted averages of SO(2) orientations.
Add values to average with append(), when done call get_average(). Use clear() to reset the accumulator and start a new average computation. Theoretical base: Average on SO(2) manifolds is computed by averaging the corresponding 2D points, then projecting the result back to the closest-point in the manifold. Shortly explained in these slides
|Resets the accumulator. More...|
|void||append (const double orientation_rad)|
|Adds a new orientation (radians) to the computation. More...|
|void||append (const double orientation_rad, const double weight)|
|Adds a new orientation (radians) to the weighted-average computation. More...|
|double||get_average () const|
|Returns the average orientation (radians). More...|
|(Default=false) Set to true if you want to raise an exception on undetermined average values. More...|
|mrpt::poses::SO_average< 2 >::SO_average||(||)|
Adds a new orientation (radians) to the weighted-average computation.
|double mrpt::poses::SO_average< 2 >::get_average||(||)||const|
Returns the average orientation (radians).
|std::logic_error||If no data point were inserted.|
|std::runtime_error||Upon undeterminate average value (ie the average lays exactly on the origin point) and enable_exception_on_undeterminate is set to true (otherwise, the 0 orientation would be returned)|
Referenced by run_test_so2_avrg().
|bool mrpt::poses::SO_average< 2 >::enable_exception_on_undeterminate|
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