mrpt::poses::SE_average< 2 > Class Template Reference

Detailed Description

template<>
class mrpt::poses::SE_average< 2 >

Computes weighted and un-weighted averages of SE(2) poses.

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: See SO_average<2> for the rotation part. The translation is a simple arithmetic mean in Euclidean space.

Note

Class introduced in MRPT 1.3.1

See also

SE_traits

Definition at line 119 of file SO_SE_average.h.

#include <mrpt/poses/SO_SE_average.h>

Public Member Functions
	SE_average ()
	Constructor. More...
void	clear ()
	Resets the accumulator. More...
void	append (const mrpt::poses::CPose2D &p)
	Adds a new pose to the computation. More...
void	append (const mrpt::poses::CPose2D &p, const double weight)
	Adds a new pose to the weighted-average computation. More...
void	append (const mrpt::math::TPose2D &p, const double weight)
void	get_average (mrpt::poses::CPose2D &out_mean) const
	Returns the average pose. More...

Public Attributes
bool	enable_exception_on_undeterminate {false}
	(Default=false) Set to true if you want to raise an exception on undetermined average values. More...

Private Attributes
double	m_count {0}
double	m_accum_x {0}
double	m_accum_y {0}
SO_average< 2 >	m_rot_part

Constructor & Destructor Documentation

SE_average()

mrpt::poses::SE_average< 2 >::SE_average

(

)

Constructor.

Member Function Documentation

append() [1/3]

void mrpt::poses::SE_average< 2 >::append

(

const mrpt::poses::CPose2D &

p

)

Adds a new pose to the computation.

See also

get_average

Referenced by mrpt::poses::CPosePDFGrid::getMean(), mrpt::poses::CPosePDFParticles::getMean(), and mrpt::poses::CPosePDFSOG::getMean().

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append() [2/3]

void mrpt::poses::SE_average< 2 >::append	(	const mrpt::poses::CPose2D &	p,
		const double	weight
	)

Adds a new pose to the weighted-average computation.

See also

get_average

append() [3/3]

void mrpt::poses::SE_average< 2 >::append	(	const mrpt::math::TPose2D &	p,
		const double	weight
	)

clear()

void mrpt::poses::SE_average< 2 >::clear

(

)

Resets the accumulator.

get_average()

void mrpt::poses::SE_average< 2 >::get_average

(

mrpt::poses::CPose2D &

out_mean

)

const

Returns the average pose.

Exceptions

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)

See also

append

Referenced by mrpt::poses::CPosePDFGrid::getMean(), mrpt::poses::CPosePDFParticles::getMean(), and mrpt::poses::CPosePDFSOG::getMean().

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Member Data Documentation

enable_exception_on_undeterminate

bool mrpt::poses::SE_average< 2 >::enable_exception_on_undeterminate {false}

(Default=false) Set to true if you want to raise an exception on undetermined average values.

Definition at line 141 of file SO_SE_average.h.

m_accum_x

double mrpt::poses::SE_average< 2 >::m_accum_x {0}

private

Definition at line 145 of file SO_SE_average.h.

m_accum_y

double mrpt::poses::SE_average< 2 >::m_accum_y {0}

private

Definition at line 145 of file SO_SE_average.h.

m_count

double mrpt::poses::SE_average< 2 >::m_count {0}

private

Definition at line 144 of file SO_SE_average.h.

m_rot_part

SO_average<2> mrpt::poses::SE_average< 2 >::m_rot_part

private

Definition at line 146 of file SO_SE_average.h.