MRPT
2.0.2
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Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose .
This class implements that PDF as the following multi-modal Gaussian distribution:
Where the number of modes N is the size of CPose3DPDFSOG::m_modes. Angles are always in radians.
See mrpt::poses::CPose3DPDF for more details.
Definition at line 32 of file CPose3DPDFSOG.h.
#include <mrpt/poses/CPose3DPDFSOG.h>
Classes | |
struct | TGaussianMode |
The struct for each mode: More... | |
Public Types | |
using | TModesList = std::vector< TGaussianMode, mrpt::aligned_allocator_cpp11< TGaussianMode > > |
using | const_iterator = TModesList::const_iterator |
using | iterator = TModesList::iterator |
enum | { is_3D_val = 1 } |
enum | { is_PDF_val = 1 } |
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 | |
CPose3DPDFSOG (size_t nModes=1) | |
Default constructor. More... | |
void | clear () |
Clear all the gaussian modes. More... | |
void | resize (const size_t N) |
Set the number of SOG modes. More... | |
size_t | size () const |
Return the number of Gaussian modes. More... | |
bool | empty () const |
Return whether there is any Gaussian mode. More... | |
iterator | begin () |
iterator | end () |
const_iterator | begin () const |
const_iterator | end () const |
void | getMean (CPose3D &mean_pose) const override |
std::tuple< cov_mat_t, type_value > | getCovarianceAndMean () const override |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More... | |
void | normalizeWeights () |
Normalize the weights in m_modes such as the maximum log-weight is 0. More... | |
void | getMostLikelyMode (CPose3DPDFGaussian &outVal) const |
Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG) More... | |
void | copyFrom (const CPose3DPDF &o) override |
Copy operator, translating if necesary (for example, between particles and gaussian representations) More... | |
bool | saveToTextFile (const std::string &file) const override |
Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements: More... | |
void | changeCoordinatesReference (const CPose3D &newReferenceBase) override |
this = p (+) this. More... | |
void | bayesianFusion (const CPose3DPDF &p1, const CPose3DPDF &p2) override |
Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPose3DPDFSOG object and p2 a mrpt::poses::CPose3DPDFSOG object) More... | |
void | drawSingleSample (CPose3D &outPart) const override |
Draws a single sample from the distribution. More... | |
void | drawManySamples (size_t N, std::vector< mrpt::math::CVectorDouble > &outSamples) const override |
Draws a number of samples from the distribution, and saves as a list of 1x6 vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum. More... | |
void | inverse (CPose3DPDF &o) const override |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More... | |
void | appendFrom (const CPose3DPDFSOG &o) |
Append the Gaussian modes from "o" to the current set of modes of "this" density. 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 void | getMean (type_value &mean_point) const=0 |
Returns the mean, or mathematical expectation of the probability density distribution (PDF). 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 void | drawSingleSample (CPose3D &outPart) const=0 |
Draws a single sample from the distribution. 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 | |
void | enforceCovSymmetry () |
Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!) More... | |
CSerializable virtual methods | |
uint8_t | serializeGetVersion () const override |
Must return the current versioning number of the object. More... | |
void | serializeTo (mrpt::serialization::CArchive &out) const override |
Pure virtual method for writing (serializing) to an abstract archive. More... | |
void | serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override |
Pure virtual method for reading (deserializing) from an abstract archive. More... | |
CSerializable virtual methods | |
virtual void | serializeTo (CSchemeArchiveBase &out) const |
Virtual method for writing (serializing) to an abstract schema based archive. More... | |
virtual void | serializeFrom (CSchemeArchiveBase &in) |
Virtual method for reading (deserializing) from an abstract schema based archive. More... | |
Protected Attributes | |
TModesList | m_modes |
Access directly to this array for modify the modes as desired. More... | |
RTTI stuff | |
using | Ptr = std::shared_ptr< mrpt::poses ::CPose3DPDFSOG > |
using | ConstPtr = std::shared_ptr< const mrpt::poses ::CPose3DPDFSOG > |
using | UniquePtr = std::unique_ptr< mrpt::poses ::CPose3DPDFSOG > |
using | ConstUniquePtr = std::unique_ptr< const mrpt::poses ::CPose3DPDFSOG > |
static const mrpt::rtti::TRuntimeClassId | runtimeClassId |
static constexpr const char * | className = "mrpt::poses" "::" "CPose3DPDFSOG" |
static const mrpt::rtti::TRuntimeClassId * | _GetBaseClass () |
static constexpr auto | getClassName () |
static const mrpt::rtti::TRuntimeClassId & | GetRuntimeClassIdStatic () |
static std::shared_ptr< CObject > | CreateObject () |
template<typename... Args> | |
static Ptr | Create (Args &&... args) |
template<typename Alloc , typename... Args> | |
static Ptr | CreateAlloc (const Alloc &alloc, Args &&... args) |
template<typename... Args> | |
static UniquePtr | CreateUnique (Args &&... args) |
virtual const mrpt::rtti::TRuntimeClassId * | GetRuntimeClass () const override |
Returns information about the class of an object in runtime. More... | |
virtual mrpt::rtti::CObject * | clone () const override |
Returns a deep copy (clone) of the object, indepently of its class. More... | |
using mrpt::poses::CPose3DPDFSOG::const_iterator = TModesList::const_iterator |
Definition at line 51 of file CPose3DPDFSOG.h.
using mrpt::poses::CPose3DPDFSOG::ConstPtr = std::shared_ptr<const mrpt::poses :: CPose3DPDFSOG > |
Definition at line 34 of file CPose3DPDFSOG.h.
using mrpt::poses::CPose3DPDFSOG::ConstUniquePtr = std::unique_ptr<const mrpt::poses :: CPose3DPDFSOG > |
Definition at line 34 of file CPose3DPDFSOG.h.
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inherited |
Covariance matrix type.
Definition at line 37 of file CProbabilityDensityFunction.h.
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inherited |
Information matrix type.
Definition at line 39 of file CProbabilityDensityFunction.h.
using mrpt::poses::CPose3DPDFSOG::iterator = TModesList::iterator |
Definition at line 52 of file CPose3DPDFSOG.h.
using mrpt::poses::CPose3DPDFSOG::Ptr = std::shared_ptr< mrpt::poses :: CPose3DPDFSOG > |
A type for the associated smart pointer
Definition at line 34 of file CPose3DPDFSOG.h.
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inherited |
Definition at line 35 of file CProbabilityDensityFunction.h.
using mrpt::poses::CPose3DPDFSOG::TModesList = std::vector< TGaussianMode, mrpt::aligned_allocator_cpp11<TGaussianMode> > |
Definition at line 50 of file CPose3DPDFSOG.h.
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inherited |
The type of the state the PDF represents.
Definition at line 34 of file CProbabilityDensityFunction.h.
using mrpt::poses::CPose3DPDFSOG::UniquePtr = std::unique_ptr< mrpt::poses :: CPose3DPDFSOG > |
Definition at line 34 of file CPose3DPDFSOG.h.
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Enumerator | |
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is_3D_val |
Definition at line 101 of file CPose3DPDF.h.
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Enumerator | |
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is_PDF_val |
Definition at line 106 of file CPose3DPDF.h.
CPose3DPDFSOG::CPose3DPDFSOG | ( | size_t | nModes = 1 | ) |
Default constructor.
nModes | The initial size of CPose3DPDFSOG::m_modes |
Definition at line 29 of file CPose3DPDFSOG.cpp.
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staticprotected |
void CPose3DPDFSOG::appendFrom | ( | const CPose3DPDFSOG & | o | ) |
Append the Gaussian modes from "o" to the current set of modes of "this" density.
Definition at line 282 of file CPose3DPDFSOG.cpp.
References ASSERT_, m_modes, MRPT_END, and MRPT_START.
Referenced by mrpt::hmtslam::CHMTSLAM::TBI_main_method().
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Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPose3DPDFSOG object and p2 a mrpt::poses::CPose3DPDFSOG object)
Implements mrpt::poses::CPose3DPDF.
Definition at line 190 of file CPose3DPDFSOG.cpp.
References ASSERT_, CLASS_ID, mrpt::poses::CPose3DPDF::GetRuntimeClass(), MRPT_END, MRPT_START, and THROW_EXCEPTION.
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Definition at line 80 of file CPose3DPDFSOG.h.
References m_modes.
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inline |
Definition at line 82 of file CPose3DPDFSOG.h.
References m_modes.
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overridevirtual |
this = p (+) this.
This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf. Result PDF substituted the currently stored one in the object.
Implements mrpt::poses::CPose3DPDF.
Definition at line 182 of file CPose3DPDFSOG.cpp.
void CPose3DPDFSOG::clear | ( | ) |
Clear all the gaussian modes.
Definition at line 33 of file CPose3DPDFSOG.cpp.
Referenced by mrpt::hmtslam::CHMTSLAM::TBI_main_method().
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overridevirtual |
Returns a deep copy (clone) of the object, indepently of its class.
Implements mrpt::rtti::CObject.
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overridevirtual |
Copy operator, translating if necesary (for example, between particles and gaussian representations)
Implements mrpt::poses::CPose3DPDF.
Definition at line 140 of file CPose3DPDFSOG.cpp.
References CLASS_ID, mrpt::math::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), mrpt::poses::CPose3DPDF::GetRuntimeClass(), MRPT_END, MRPT_START, resize(), and val.
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inlinestatic |
Definition at line 34 of file CPose3DPDFSOG.h.
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inlinestatic |
Definition at line 34 of file CPose3DPDFSOG.h.
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staticinherited |
This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc)
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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inlinestatic |
Definition at line 34 of file CPose3DPDFSOG.h.
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Draws a number of samples from the distribution, and saves as a list of 1x6 vectors, where each row contains a (x,y,z,yaw,pitch,roll) datum.
Reimplemented from mrpt::math::CProbabilityDensityFunction< CPose3D, 6 >.
Definition at line 246 of file CPose3DPDFSOG.cpp.
References THROW_EXCEPTION.
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override |
Draws a single sample from the distribution.
Definition at line 238 of file CPose3DPDFSOG.cpp.
References THROW_EXCEPTION.
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pure virtualinherited |
Draws a single sample from the distribution.
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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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inline |
Return whether there is any Gaussian mode.
Definition at line 79 of file CPose3DPDFSOG.h.
References m_modes.
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inline |
Definition at line 81 of file CPose3DPDFSOG.h.
References m_modes.
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inline |
Definition at line 83 of file CPose3DPDFSOG.h.
References m_modes.
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Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)
Definition at line 207 of file CPose3DPDFSOG.cpp.
References MRPT_END, and MRPT_START.
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inlineinherited |
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)
Definition at line 122 of file CPose3DPDF.h.
References mrpt::opengl::posePDF2opengl().
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inlineinherited |
Returns a 3D representation of this PDF.
Definition at line 133 of file CPose3DPDF.h.
References mrpt::opengl::posePDF2opengl().
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inlinestatic |
Definition at line 34 of file CPose3DPDFSOG.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 88 of file CProbabilityDensityFunction.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 98 of file CProbabilityDensityFunction.h.
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 108 of file CProbabilityDensityFunction.h.
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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.
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overridevirtual |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
Implements mrpt::math::CProbabilityDensityFunction< CPose3D, 6 >.
Definition at line 63 of file CPose3DPDFSOG.cpp.
References mrpt::math::MatrixBase< Scalar, Derived >::matProductOf_AAt(), and mrpt::math::mean().
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inlineinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
Definition at line 65 of file CProbabilityDensityFunction.h.
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inlineinherited |
Compute the entropy of the estimated covariance matrix.
Definition at line 167 of file CProbabilityDensityFunction.h.
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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.
Definition at line 130 of file CProbabilityDensityFunction.h.
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pure virtualinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
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override |
Definition at line 43 of file CPose3DPDFSOG.cpp.
References mrpt::poses::SE_average< 3 >::append(), mrpt::poses::SE_average< 3 >::get_average(), and mrpt::poses::CPose3D::setFromValues().
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inlineinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Definition at line 77 of file CProbabilityDensityFunction.h.
void CPose3DPDFSOG::getMostLikelyMode | ( | CPose3DPDFGaussian & | outVal | ) | const |
Return the Gaussian mode with the highest likelihood (or an empty Gaussian if there are no modes in this SOG)
Definition at line 299 of file CPose3DPDFSOG.cpp.
References mrpt::containers::empty().
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Returns information about the class of an object in runtime.
Reimplemented from mrpt::poses::CPose3DPDF.
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static |
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Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
Implements mrpt::poses::CPose3DPDF.
Definition at line 256 of file CPose3DPDFSOG.cpp.
References ASSERT_, CLASS_ID, mrpt::poses::CPose3DPDF::GetRuntimeClass(), MRPT_END, MRPT_START, out, and val.
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inlinestaticinherited |
Definition at line 105 of file CPose3DPDF.h.
References mrpt::poses::CPose3DPDF::is_3D_val.
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inlinestaticinherited |
Definition at line 110 of file CPose3DPDF.h.
References mrpt::poses::CPose3DPDF::is_PDF_val.
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inlinevirtualinherited |
Returns whether the class instance holds the uncertainty in covariance or information form.
Reimplemented in mrpt::poses::CPose3DPDFGaussianInf.
Definition at line 123 of file CProbabilityDensityFunction.h.
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staticinherited |
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:
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().
void CPose3DPDFSOG::normalizeWeights | ( | ) |
Normalize the weights in m_modes such as the maximum log-weight is 0.
Definition at line 225 of file CPose3DPDFSOG.cpp.
References MRPT_END, and MRPT_START.
void CPose3DPDFSOG::resize | ( | const size_t | N | ) |
Set the number of SOG modes.
Definition at line 37 of file CPose3DPDFSOG.cpp.
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Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements:
Implements mrpt::math::CProbabilityDensityFunction< CPose3D, 6 >.
Definition at line 165 of file CPose3DPDFSOG.cpp.
References mrpt::system::os::fclose(), mrpt::system::os::fopen(), and mrpt::system::os::fprintf().
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overrideprotectedvirtual |
Pure virtual method for reading (deserializing) from an abstract archive.
Users don't call this method directly. Instead, use stream >> object;
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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. |
std::exception | On any I/O error |
Implements mrpt::serialization::CSerializable.
Definition at line 104 of file CPose3DPDFSOG.cpp.
References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, resize(), and THROW_EXCEPTION.
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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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overrideprotectedvirtual |
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.
Implements mrpt::serialization::CSerializable.
Definition at line 97 of file CPose3DPDFSOG.cpp.
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overrideprotectedvirtual |
Pure virtual method for writing (serializing) to an abstract archive.
Users don't call this method directly. Instead, use stream << object;
.
std::exception | On any I/O error |
Implements mrpt::serialization::CSerializable.
Definition at line 98 of file CPose3DPDFSOG.cpp.
References out.
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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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inline |
Return the number of Gaussian modes.
Definition at line 77 of file CPose3DPDFSOG.h.
References m_modes.
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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.
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.
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Definition at line 34 of file CPose3DPDFSOG.h.
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protected |
Access directly to this array for modify the modes as desired.
Note that no weight can be zero!! We must use pointers to satisfy the mem-alignment of the matrixes
Definition at line 64 of file CPose3DPDFSOG.h.
Referenced by appendFrom(), begin(), empty(), end(), and size().
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Definition at line 34 of file CPose3DPDFSOG.h.
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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.
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