CPoint2DPDF.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/math/CProbabilityDensityFunction.h>
#include <mrpt/poses/CPoint2D.h>

namespace mrpt::poses
{
/** Declares a class that represents a Probability Distribution function (PDF)
 * of a 2D point (x,y).
 *   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 6D poses (a 3D point with attitude), see CPose3DPDF
 *
 *  See also the tutorial on <a
 * href="http://www.mrpt.org/Probability_Density_Distributions_Over_Spatial_Representations"
 * >probabilistic spatial representations in the MRPT</a>.
 * \ingroup poses_pdf_grp
 * \sa CPoint2D, CPointPDF
 */
class CPoint2DPDF : public mrpt::serialization::CSerializable,
                    public mrpt::math::CProbabilityDensityFunction<CPoint2D, 2>
{
    DEFINE_VIRTUAL_SERIALIZABLE(CPoint2DPDF)

   public:
    /** Copy operator, translating if necesary (for example, between particles
     * and gaussian representations)
     */
    virtual void copyFrom(const CPoint2DPDF& o) = 0;

    virtual void changeCoordinatesReference(
        const CPose3D& newReferenceBase) = 0;

    /** Bayesian fusion of two point 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!)
     * \param p1 The first distribution to fuse
     * \param p2 The second distribution to fuse
     * \param 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 bayesianFusion(
        const CPoint2DPDF& p1, const CPoint2DPDF& p2,
        const double minMahalanobisDistToDrop = 0) = 0;

    enum
    {
        is_3D_val = 0
    };
    static constexpr bool is_3D() { return is_3D_val != 0; }
    enum
    {
        is_PDF_val = 1
    };
    static constexpr bool is_PDF() { return is_PDF_val != 0; }
};  // End of class def.

}  // namespace mrpt::poses