Detailed Description

Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually).

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 3D points (without attitude), see CPointPDF

See also the tutorial on probabilistic spatial representations in the MRPT.

See also: CPose3D, CPosePDF, CPointPDF

Definition at line 39 of file CPose3DPDF.h.

#include <mrpt/poses/CPose3DPDF.h>

Inheritance diagram for mrpt::poses::CPose3DPDF:

Public Types
enum	{ is_3D_val = 1 }

enum	{ is_PDF_val = 1 }

using	UniquePtr = std::unique_ptr< CObject >

using	ConstUniquePtr = std::unique_ptr< const CObject >

using	type_value = CPose3D
	The type of the state the PDF represents. More...

using	self_t = CProbabilityDensityFunction< CPose3D, STATE_LEN >

using	cov_mat_t = mrpt::math::CMatrixFixed< double, STATE_LEN, STATE_LEN >
	Covariance matrix type. More...

using	inf_mat_t = cov_mat_t
	Information matrix type. More...

Public Member Functions
virtual void	copyFrom (const CPose3DPDF &o)=0
	Copy operator, translating if necesary (for example, between particles and gaussian representations) More...

virtual void	changeCoordinatesReference (const CPose3D &newReferenceBase)=0

virtual void	bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2)=0
	Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently only distributions of the same class can be fused! eg, gaussian with gaussian,etc) More...

virtual void	inverse (CPose3DPDF &o) const =0
	Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More...

template<class OPENGL_SETOFOBJECTSPTR >
void	getAs3DObject (OPENGL_SETOFOBJECTSPTR &out_obj) const
	Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list) More...

template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR	getAs3DObject () const
	Returns a 3D representation of this PDF. More...

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

virtual CObject *	clone () const =0
	Returns a deep copy (clone) of the object, indepently of its class. More...

virtual void	getMean (type_value &mean_point) const=0
	Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...

virtual std::tuple< cov_mat_t, type_value >	getCovarianceAndMean () const=0
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...

virtual void	getCovarianceAndMean (cov_mat_t &c, CPose3D &mean) const final

void	getCovarianceDynAndMean (mrpt::math::CMatrixDouble &cov, type_value &mean_point) const
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...

type_value	getMeanVal () const
	Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...

void	getCovariance (mrpt::math::CMatrixDouble &cov) const
	Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...

void	getCovariance (cov_mat_t &cov) const
	Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...

cov_mat_t	getCovariance () const
	Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...

virtual bool	isInfType () const
	Returns whether the class instance holds the uncertainty in covariance or information form. More...

virtual void	getInformationMatrix (inf_mat_t &inf) const
	Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it. More...

virtual bool	saveToTextFile (const std::string &file) const=0
	Save PDF's particles to a text file. More...

virtual void	drawSingleSample (CPose3D &outPart) const=0
	Draws a single sample from the distribution. More...

virtual void	drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const
	Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. More...

double	getCovarianceEntropy () const
	Compute the entropy of the estimated covariance matrix. More...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Static Public Member Functions
static CPose3DPDF *	createFrom2D (const CPosePDF &o)
	This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) More...

static void	jacobiansPoseComposition (const CPose3D &x, const CPose3D &u, mrpt::math::CMatrixDouble66 &df_dx, mrpt::math::CMatrixDouble66 &df_du)
	This static method computes the pose composition Jacobians. More...

static constexpr bool	is_3D ()

static constexpr bool	is_PDF ()

Static Public Attributes
static constexpr size_t	state_length
	The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll). More...

Protected Member Functions
CSerializable virtual methods
virtual uint8_t	serializeGetVersion () const =0
	Must return the current versioning number of the object. More...

virtual void	serializeTo (CArchive &out) const =0
	Pure virtual method for writing (serializing) to an abstract archive. More...

virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CArchive &in, uint8_t serial_version)=0
	Pure virtual method for reading (deserializing) from an abstract archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

RTTI stuff
using	Ptr = std::shared_ptr< CPose3DPDF >

using	ConstPtr = std::shared_ptr< const CPose3DPDF >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

Member Typedef Documentation

◆ ConstPtr

using mrpt::poses::CPose3DPDF::ConstPtr = std::shared_ptr<const CPose3DPDF >

Definition at line 42 of file CPose3DPDF.h.

◆ ConstUniquePtr

using mrpt::rtti::CObject::ConstUniquePtr = std::unique_ptr<const CObject>

inherited

Definition at line 187 of file CObject.h.

◆ cov_mat_t

using mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::cov_mat_t = mrpt::math::CMatrixFixed<double, STATE_LEN, STATE_LEN>

inherited

Covariance matrix type.

Definition at line 37 of file CProbabilityDensityFunction.h.

◆ inf_mat_t

using mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::inf_mat_t = cov_mat_t

inherited

Information matrix type.

Definition at line 39 of file CProbabilityDensityFunction.h.

◆ Ptr

using mrpt::poses::CPose3DPDF::Ptr = std::shared_ptr< CPose3DPDF >

Definition at line 42 of file CPose3DPDF.h.

◆ self_t

using mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::self_t = CProbabilityDensityFunction<CPose3D , STATE_LEN>

inherited

Definition at line 35 of file CProbabilityDensityFunction.h.

◆ type_value

using mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::type_value = CPose3D

inherited

The type of the state the PDF represents.

Definition at line 34 of file CProbabilityDensityFunction.h.

◆ UniquePtr

using mrpt::rtti::CObject::UniquePtr = std::unique_ptr<CObject>

inherited

Definition at line 186 of file CObject.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
is_3D_val

Definition at line 101 of file CPose3DPDF.h.

◆ anonymous enum

anonymous enum

Enumerator
is_PDF_val

Definition at line 106 of file CPose3DPDF.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DPDF::_GetBaseClass ( )

staticprotected

◆ bayesianFusion()

virtual void mrpt::poses::CPose3DPDF::bayesianFusion	(	const CPose3DPDF &	p1,
		const CPose3DPDF &	p2
	)

pure virtual

Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently only distributions of the same class can be fused! eg, gaussian with gaussian,etc)

Implemented in mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPose3DPDFGaussianInf, mrpt::poses::CPose3DPDFSOG, mrpt::poses::CPose3DPDFParticles, and mrpt::poses::CPose3DPDFGrid.

◆ changeCoordinatesReference()

virtual void mrpt::poses::CPose3DPDF::changeCoordinatesReference ( const CPose3D & newReferenceBase )

pure virtual

Implemented in mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPose3DPDFSOG, mrpt::poses::CPose3DPDFGaussianInf, mrpt::poses::CPose3DPDFParticles, and mrpt::poses::CPose3DPDFGrid.

◆ clone()

virtual CObject* mrpt::rtti::CObject::clone ( ) const

pure virtualinherited

Returns a deep copy (clone) of the object, indepently of its class.

Referenced by mrpt::rtti::CObject::duplicateGetSmartPtr(), mrpt::maps::CSimpleMap::insert(), mrpt::obs::CActionCollection::insert(), and mrpt::poses::CPoseRandomSampler::setPosePDF().

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◆ copyFrom()

virtual void mrpt::poses::CPose3DPDF::copyFrom ( const CPose3DPDF & o )

pure virtual

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

See also: createFrom2D

Implemented in mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPose3DPDFGaussianInf, mrpt::poses::CPose3DPDFSOG, mrpt::poses::CPose3DPDFParticles, and mrpt::poses::CPose3DPDFGrid.

◆ createFrom2D()

CPose3DPDF * CPose3DPDF::createFrom2D ( const CPosePDF & o )

static

This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc)

Warning: It returns a new object of any of the derived classes of CPose3DPDF. This object must be deleted by the user when not required anymore.

See also: copyFrom

Definition at line 49 of file CPose3DPDF.cpp.

References ASSERT_, CLASS_ID, cov2to3(), mrpt::poses::CPosePDF::GetRuntimeClass(), MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitions().

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◆ drawManySamples()

virtual void mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::drawManySamples	(	size_t	N,
		std::vector< mrpt::math::CVectorDouble > &	outSamples
	)		const

inlinevirtualinherited

Draws a number of samples from the distribution, and saves as a list of 1xSTATE_LEN vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum.

This base method just call N times to drawSingleSample, but derived classes should implemented optimized method for each particular PDF.

Reimplemented in mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPose3DPDFSOG, mrpt::poses::CPose3DPDFGaussianInf, mrpt::poses::CPose3DPDFParticles, and mrpt::poses::CPose3DPDFGrid.

Definition at line 151 of file CProbabilityDensityFunction.h.

◆ drawSingleSample()

virtual void mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::drawSingleSample ( CPose3D & outPart ) const

pure virtualinherited

Draws a single sample from the distribution.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ getAs3DObject() [1/2]

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPose3DPDF::getAs3DObject ( OPENGL_SETOFOBJECTSPTR & out_obj ) const

inline

Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj, but append new OpenGL objects to that list)

Note: Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjects::Ptr as template argument.; By default, ellipsoids for the confidence intervals of "q=3" are drawn; for more mathematical details, see CGeneralizedEllipsoidTemplate::setQuantiles()

See also: mrpt::opengl::CSetOfObjects::posePDF2opengl() for details on pose-to-opengl conversion

Definition at line 122 of file CPose3DPDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getAs3DObject() [2/2]

template<class OPENGL_SETOFOBJECTSPTR >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPose3DPDF::getAs3DObject ( ) const

inline

Returns a 3D representation of this PDF.

Note: Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjects::Ptr as template argument.

Definition at line 133 of file CPose3DPDF.h.

References mrpt::opengl::posePDF2opengl().

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◆ getCovariance() [1/3]

void mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovariance ( mrpt::math::CMatrixDouble & cov ) const

inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also: getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 88 of file CProbabilityDensityFunction.h.

◆ getCovariance() [2/3]

void mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovariance ( cov_mat_t & cov ) const

inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also: getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 98 of file CProbabilityDensityFunction.h.

◆ getCovariance() [3/3]

cov_mat_t mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovariance ( ) const

inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also: getMean, getInformationMatrix

Definition at line 108 of file CProbabilityDensityFunction.h.

◆ getCovarianceAndMean() [1/2]

virtual std::tuple<cov_mat_t, type_value> mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceAndMean ( ) const

pure virtualinherited

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See also: getMean, getInformationMatrix

Implemented in mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPose3DPDFGaussianInf, mrpt::poses::CPose3DPDFSOG, mrpt::poses::CPose3DPDFParticles, and mrpt::poses::CPose3DPDFGrid.

◆ getCovarianceAndMean() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceAndMean	(	cov_mat_t &	c,
		CPose3D &	mean
	)		const

inlinefinalvirtualinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 54 of file CProbabilityDensityFunction.h.

◆ getCovarianceDynAndMean()

void mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceDynAndMean	(	mrpt::math::CMatrixDouble &	cov,
		type_value &	mean_point
	)		const

inlineinherited

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See also: getMean, getInformationMatrix

Definition at line 65 of file CProbabilityDensityFunction.h.

◆ getCovarianceEntropy()

double mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getCovarianceEntropy ( ) const

inlineinherited

Compute the entropy of the estimated covariance matrix.

See also: http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy

Definition at line 167 of file CProbabilityDensityFunction.h.

◆ getInformationMatrix()

virtual void mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getInformationMatrix ( inf_mat_t & inf ) const

inlinevirtualinherited

Returns the information (inverse covariance) matrix (a STATE_LEN x STATE_LEN matrix) Unless reimplemented in derived classes, this method first reads the covariance, then invert it.

See also: getMean, getCovarianceAndMean

Definition at line 130 of file CProbabilityDensityFunction.h.

◆ getMean()

virtual void mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getMean ( type_value & mean_point ) const

pure virtualinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See also: getCovarianceAndMean, getInformationMatrix

◆ getMeanVal()

type_value mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::getMeanVal ( ) const

inlineinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See also: getCovariance, getInformationMatrix

Definition at line 77 of file CProbabilityDensityFunction.h.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose3DPDF::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

Reimplemented in mrpt::poses::CPose3DPDFGaussianInf, mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPose3DPDFSOG, and mrpt::poses::CPose3DPDFGrid.

Referenced by mrpt::poses::CPose3DPDFSOG::bayesianFusion(), mrpt::poses::CPose3DPDFParticles::copyFrom(), mrpt::poses::CPose3DPDFSOG::copyFrom(), mrpt::poses::CPose3DPDFParticles::inverse(), mrpt::poses::CPose3DPDFSOG::inverse(), mrpt::poses::CPose3DPDFGaussianInf::inverse(), and mrpt::poses::CPose3DPDFGaussian::inverse().

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◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::poses::CPose3DPDF::GetRuntimeClassIdStatic ( )

static

◆ inverse()

virtual void mrpt::poses::CPose3DPDF::inverse ( CPose3DPDF & o ) const

pure virtual

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

Implemented in mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPose3DPDFGaussianInf, mrpt::poses::CPose3DPDFSOG, mrpt::poses::CPose3DPDFParticles, and mrpt::poses::CPose3DPDFGrid.

◆ is_3D()

static constexpr bool mrpt::poses::CPose3DPDF::is_3D ( )

inlinestatic

Definition at line 105 of file CPose3DPDF.h.

References is_3D_val.

◆ is_PDF()

static constexpr bool mrpt::poses::CPose3DPDF::is_PDF ( )

inlinestatic

Definition at line 110 of file CPose3DPDF.h.

References is_PDF_val.

◆ isInfType()

virtual bool mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::isInfType ( ) const

inlinevirtualinherited

Returns whether the class instance holds the uncertainty in covariance or information form.

Note: By default this is going to be covariance form. *Inf classes (e.g. CPosePDFGaussianInf) store it in information form.

See also: mrpt::traits::is_inf_type

Reimplemented in mrpt::poses::CPose3DPDFGaussianInf.

Definition at line 123 of file CProbabilityDensityFunction.h.

◆ jacobiansPoseComposition()

void CPose3DPDF::jacobiansPoseComposition	(	const CPose3D &	x,
		const CPose3D &	u,
		mrpt::math::CMatrixDouble66 &	df_dx,
		mrpt::math::CMatrixDouble66 &	df_du
	)

static

This static method computes the pose composition Jacobians.

See this techical report: http:///www.mrpt.org/6D_poses:equivalences_compositions_and_uncertainty

Direct equations (for the covariances) in yaw-pitch-roll are too complex. Make a way around them and consider instead this path:

X(6D)       U(6D)
  |           |
  v           v
X(7D)       U(7D)
  |           |
  +--- (+) ---+
        |
        v
      RES(7D)
        |
        v
      RES(6D)

Definition at line 129 of file CPose3DPDF.cpp.

References mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), mrpt::math::CQuaternion< T >::crossProduct(), mrpt::poses::CPose3D::getAsQuaternion(), mrpt::math::MatrixBase< T, CMatrixFixed< T, ROWS, COLS > >::insertMatrix(), mrpt::poses::CPose3DQuatPDF::jacobiansPoseComposition(), mrpt::math::CQuaternion< T >::normalizationJacobian(), mrpt::obs::gnss::pitch, mrpt::poses::CPose3DQuat::quat(), mrpt::obs::gnss::roll, mrpt::math::CQuaternion< T >::rpy_and_jacobian(), mrpt::math::UNINITIALIZED_MATRIX, and mrpt::math::UNINITIALIZED_QUATERNION.

Referenced by mrpt::poses::CPose3DPDFGaussian::changeCoordinatesReference(), mrpt::poses::CPose3DPDFGaussianInf::operator+=(), mrpt::poses::CPose3DPDFGaussian::operator+=(), and Pose3DPDFGaussTests::testCompositionJacobian().

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◆ saveToTextFile()

virtual bool mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::saveToTextFile ( const std::string & file ) const

pure virtualinherited

Save PDF's particles to a text file.

See derived classes for more information about the format of generated files.

Returns: false on error

Implemented in mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPose3DPDFSOG, mrpt::poses::CPose3DPDFGaussianInf, mrpt::poses::CPose3DPDFParticles, and mrpt::poses::CPose3DPDFGrid.

◆ serializeFrom() [1/2]

virtual void mrpt::serialization::CSerializable::serializeFrom	(	CArchive &	in,
		uint8_t	serial_version
	)

protectedpure virtualinherited

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any I/O error

Referenced by mrpt::serialization::CArchive::internal_ReadObject(), and mrpt::serialization::CSchemeArchiveBase::WriteObject().

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◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

virtual uint8_t mrpt::serialization::CSerializable::serializeGetVersion ( ) const

protectedpure virtualinherited

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Referenced by mrpt::serialization::CArchive::WriteObject().

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◆ serializeTo() [1/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CArchive & out ) const

protectedpure virtualinherited

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Referenced by mrpt::serialization::CSchemeArchiveBase::ReadObject(), and mrpt::serialization::CArchive::WriteObject().

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◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPose3DPDF::runtimeClassId

staticprotected

Definition at line 42 of file CPose3DPDF.h.

◆ state_length

constexpr size_t mrpt::math::CProbabilityDensityFunction< CPose3D , STATE_LEN >::state_length

staticinherited

The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll).

Definition at line 32 of file CProbabilityDensityFunction.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ cov_mat_t

◆ inf_mat_t

◆ Ptr

◆ self_t

◆ type_value

◆ UniquePtr

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

Member Function Documentation

◆ _GetBaseClass()

◆ bayesianFusion()

◆ changeCoordinatesReference()

◆ clone()

◆ copyFrom()

◆ createFrom2D()

◆ drawManySamples()

◆ drawSingleSample()

◆ duplicateGetSmartPtr()

◆ getAs3DObject() [1/2]

◆ getAs3DObject() [2/2]

◆ getCovariance() [1/3]

◆ getCovariance() [2/3]

◆ getCovariance() [3/3]

◆ getCovarianceAndMean() [1/2]

◆ getCovarianceAndMean() [2/2]

◆ getCovarianceDynAndMean()

◆ getCovarianceEntropy()

◆ getInformationMatrix()

◆ getMean()

◆ getMeanVal()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ inverse()

◆ is_3D()

◆ is_PDF()

◆ isInfType()

◆ jacobiansPoseComposition()

◆ saveToTextFile()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ writeToMatlab()

Member Data Documentation

◆ runtimeClassId

◆ state_length