Declares a class that represents a probability density function (pdf) of a 2D pose (x,y,phi).
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.
See also the tutorial on probabilistic spatial representations in the MRPT.
Definition at line 41 of file CPosePDF.h.
#include <mrpt/poses/CPosePDF.h>
Public Types | |
enum | { is_3D_val = 0 } |
enum | { is_PDF_val = 1 } |
typedef CPose2D | type_value |
The type of the state the PDF represents. More... | |
typedef CProbabilityDensityFunction< CPose2D, STATE_LEN > | self_t |
Public Member Functions | |
virtual void | copyFrom (const CPosePDF &o)=0 |
Copy operator, translating if necesary (for example, between particles and gaussian representations) More... | |
virtual void | bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0)=0 |
Bayesian fusion of two pose 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!) More... | |
virtual void | inverse (CPosePDF &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 (CPose2D &mean_point) const=0 |
Returns the mean, or mathematical expectation of the probability density distribution (PDF). More... | |
virtual void | getCovarianceAndMean (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, CPose2D &mean_point) const=0 |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More... | |
void | getCovarianceDynAndMean (mrpt::math::CMatrixDouble &cov, CPose2D &mean_point) const |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More... | |
CPose2D | 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 (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More... | |
mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > | 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 (mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &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 | saveToTextFile (const std::string &file) const=0 |
Save PDF's particles to a text file. More... | |
virtual void | drawSingleSample (CPose2D &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... | |
virtual void | changeCoordinatesReference (const mrpt::poses::CPose3D &newReferenceBase)=0 |
this = p (+) this. More... | |
double | getCovarianceEntropy () const |
Compute the entropy of the estimated covariance matrix. More... | |
RTTI classes and functions | |
mrpt::utils::CObject::Ptr | duplicateGetSmartPtr () const |
Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More... | |
Static Public Member Functions | |
static void | jacobiansPoseComposition (const CPose2D &x, const CPose2D &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du, const bool compute_df_dx=true, const bool compute_df_du=true) |
This static method computes the pose composition Jacobians, with these formulas: More... | |
static void | jacobiansPoseComposition (const CPosePDFGaussian &x, const CPosePDFGaussian &u, mrpt::math::CMatrixDouble33 &df_dx, mrpt::math::CMatrixDouble33 &df_du) |
static bool | is_3D () |
static bool | is_PDF () |
Static Public Attributes | |
static const 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 | |
virtual void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0 |
Introduces a pure virtual method responsible for writing to a CStream. More... | |
virtual void | readFromStream (mrpt::utils::CStream &in, int version)=0 |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More... | |
RTTI stuff | |
using | Ptr = std::shared_ptr< CPosePDF > |
using | ConstPtr = std::shared_ptr< const CPosePDF > |
static const mrpt::utils::TRuntimeClassId | runtimeClassId |
class | mrpt::utils::CStream |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const override |
Returns information about the class of an object in runtime. More... | |
static const mrpt::utils::TRuntimeClassId & | GetRuntimeClassIdStatic () |
using mrpt::poses::CPosePDF::ConstPtr = std::shared_ptr<const CPosePDF > |
Definition at line 44 of file CPosePDF.h.
using mrpt::poses::CPosePDF::Ptr = std::shared_ptr< CPosePDF > |
Definition at line 44 of file CPosePDF.h.
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inherited |
Definition at line 37 of file CProbabilityDensityFunction.h.
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inherited |
The type of the state the PDF represents.
Definition at line 36 of file CProbabilityDensityFunction.h.
anonymous enum |
Enumerator | |
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is_3D_val |
Definition at line 94 of file CPosePDF.h.
anonymous enum |
Enumerator | |
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is_PDF_val |
Definition at line 99 of file CPosePDF.h.
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staticprotected |
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pure virtual |
Bayesian fusion of two pose 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!)
p1 | The first distribution to fuse |
p2 | The second distribution to fuse |
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. |
Implemented in mrpt::poses::CPosePDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFParticles, and mrpt::poses::CPosePDFGrid.
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pure virtualinherited |
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.
Implemented in mrpt::poses::CPosePDFSOG, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGaussian, and mrpt::poses::CPosePDFGrid.
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pure virtualinherited |
Returns a deep copy (clone) of the object, indepently of its class.
Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::maps::CMultiMetricMap, mrpt::utils::CSimpleDatabase, mrpt::utils::CImage, mrpt::obs::CObservationIMU, mrpt::maps::TMapGenericParams, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CMultiMetricMapPDF, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::obs::CObservationVelodyneScan, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::opengl::COctoMapVoxels, mrpt::kinematics::CKinematicChain, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservationGPS, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::vision::CFeature, mrpt::nav::CHolonomicND, mrpt::obs::CObservation2DRangeScan, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::opengl::CPointCloud, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::poses::CPose3DQuat, mrpt::pbmap::Plane, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::detectors::CDetectable2D, mrpt::hmtslam::CLSLAMParticleData, mrpt::maps::CBeaconMap, mrpt::poses::CPose3DRotVec, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPointPDFParticles, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CPolyhedron, mrpt::poses::CPose3DPDFGaussianInf, mrpt::maps::CReflectivityGridMap2D, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::maps::CBeacon, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CBox, mrpt::poses::CPose2D, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DPDFGaussian, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::utils::CMHPropertiesValuesList, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPosePDFGaussianInf, mrpt::maps::CHeightGridMap2D_MRF, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::opengl::CColorBar, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::opengl::CSetOfLines, mrpt::maps::CLandmark, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::COctoMap, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationBatteryState, mrpt::opengl::CDisk, mrpt::poses::CPoint3D, mrpt::utils::CStringList, mrpt::utils::TCamera, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPosePDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::maps::CSimplePointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::slam::CIncrementalMapPartitioner, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::obs::CObservationRange, mrpt::opengl::CSetOfObjects, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CSplineInterpolator1D, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CMultiObjMotionOpt_Scalarization, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPosePDFGrid, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::math::CMatrixD, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::opengl::C3DSScene, mrpt::opengl::COpenGLStandardObject, mrpt::math::CMatrix, mrpt::poses::CPointPDFGaussian, mrpt::utils::TStereoCamera, mrpt::opengl::CSetOfTriangles, mrpt::math::CMatrixB, mrpt::poses::TSimple3DPoint, mrpt::utils::CMemoryChunk, mrpt::utils::CPropertiesValuesList, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::math::CPolygon, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::CSimpleDatabaseTable, mrpt::utils::CTypeSelector, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::kinematics::CVehicleVelCmd_DiffDriven, and mrpt::kinematics::CVehicleVelCmd_Holo.
Referenced by mrpt::utils::CObject::duplicateGetSmartPtr(), mrpt::maps::CSimpleMap::insert(), mrpt::obs::CActionCollection::insert(), and mrpt::poses::CPoseRandomSampler::setPosePDF().
Copy operator, translating if necesary (for example, between particles and gaussian representations)
Implemented in mrpt::poses::CPosePDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFParticles, and mrpt::poses::CPosePDFGrid.
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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::CPosePDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGaussian, and mrpt::poses::CPosePDFGrid.
Definition at line 154 of file CProbabilityDensityFunction.h.
References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::drawSingleSample().
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pure virtualinherited |
Draws a single sample from the distribution.
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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)
Definition at line 113 of file CPosePDF.h.
References mrpt::opengl::posePDF2opengl().
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inline |
Returns a 3D representation of this PDF.
Definition at line 124 of file CPosePDF.h.
References mrpt::opengl::posePDF2opengl().
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 81 of file CProbabilityDensityFunction.h.
References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceDynAndMean().
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 91 of file CProbabilityDensityFunction.h.
References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean().
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inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 104 of file CProbabilityDensityFunction.h.
References mrpt::math::cov(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.
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pure virtualinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
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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 57 of file CProbabilityDensityFunction.h.
References mrpt::math::cov(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.
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inlineinherited |
Compute the entropy of the estimated covariance matrix.
Definition at line 178 of file CProbabilityDensityFunction.h.
References det(), and mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovariance().
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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 127 of file CProbabilityDensityFunction.h.
References mrpt::math::cov(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getCovarianceAndMean(), and mrpt::math::UNINITIALIZED_MATRIX.
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pure virtualinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
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inlineinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Definition at line 70 of file CProbabilityDensityFunction.h.
References mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMean().
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overridevirtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
Reimplemented in mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::poses::CPosePDFGaussian, and mrpt::poses::CPosePDFGrid.
Referenced by mrpt::poses::CPosePDFGaussian::bayesianFusion(), mrpt::poses::CPosePDFGaussianInf::bayesianFusion(), mrpt::poses::CPosePDFSOG::bayesianFusion(), mrpt::poses::CPosePDFParticles::copyFrom(), mrpt::poses::CPosePDFSOG::copyFrom(), mrpt::poses::CPosePDFParticles::inverse(), mrpt::poses::CPosePDFGaussian::inverse(), mrpt::poses::CPosePDFGaussianInf::inverse(), and mrpt::poses::CPosePDFSOG::inverse().
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static |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
Implemented in mrpt::poses::CPosePDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFParticles, and mrpt::poses::CPosePDFGrid.
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inlinestatic |
Definition at line 98 of file CPosePDF.h.
References is_3D_val.
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inlinestatic |
Definition at line 103 of file CPosePDF.h.
References 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::CPosePDFGaussianInf.
Definition at line 120 of file CProbabilityDensityFunction.h.
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static |
This static method computes the pose composition Jacobians, with these formulas:
Definition at line 32 of file CPosePDF.cpp.
References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
Referenced by mrpt::poses::CPosePDFGaussian::composePoint(), jacobiansPoseComposition(), mrpt::math::jacobians::jacobs_2D_pose_comp(), mrpt::poses::CPosePDFGaussian::operator+=(), and mrpt::poses::CPosePDFGaussianInf::operator+=().
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static |
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 22 of file CPosePDF.cpp.
References jacobiansPoseComposition().
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protectedpure virtualinherited |
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
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 error, see CStream::ReadBuffer |
Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::maps::CMultiMetricMap, mrpt::utils::CSimpleDatabase, mrpt::utils::CImage, mrpt::obs::CObservationIMU, mrpt::maps::TMapGenericParams, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CMultiMetricMapPDF, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::obs::CObservationVelodyneScan, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::opengl::COctoMapVoxels, mrpt::kinematics::CKinematicChain, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservationGPS, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::vision::CFeature, mrpt::nav::CHolonomicND, mrpt::obs::CObservation2DRangeScan, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::opengl::CPointCloud, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::poses::CPose3DQuat, mrpt::pbmap::Plane, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::detectors::CDetectable2D, mrpt::hmtslam::CLSLAMParticleData, mrpt::maps::CBeaconMap, mrpt::poses::CPose3DRotVec, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPointPDFParticles, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CPolyhedron, mrpt::poses::CPose3DPDFGaussianInf, mrpt::maps::CReflectivityGridMap2D, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::maps::CBeacon, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CBox, mrpt::poses::CPose2D, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DPDFGaussian, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::utils::CMHPropertiesValuesList, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPosePDFGaussianInf, mrpt::maps::CHeightGridMap2D_MRF, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::opengl::CColorBar, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::opengl::CSetOfLines, mrpt::maps::CLandmark, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::COctoMap, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationBatteryState, mrpt::opengl::CDisk, mrpt::poses::CPoint3D, mrpt::utils::CStringList, mrpt::utils::TCamera, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPosePDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::maps::CSimplePointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::slam::CIncrementalMapPartitioner, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::obs::CObservationRange, mrpt::opengl::CSetOfObjects, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CSplineInterpolator1D, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPosePDFGrid, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::math::CMatrixD, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::opengl::C3DSScene, mrpt::opengl::COpenGLStandardObject, mrpt::math::CMatrix, mrpt::poses::CPointPDFGaussian, mrpt::utils::TStereoCamera, mrpt::opengl::CSetOfTriangles, mrpt::math::CMatrixB, mrpt::poses::TSimple3DPoint, mrpt::utils::CMemoryChunk, mrpt::utils::CPropertiesValuesList, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::math::CPolygon, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::CSimpleDatabaseTable, mrpt::utils::CTypeSelector, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::kinematics::CVehicleVelCmd_DiffDriven, and mrpt::kinematics::CVehicleVelCmd_Holo.
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pure virtualinherited |
Save PDF's particles to a text file.
See derived classes for more information about the format of generated files.
Implemented in mrpt::poses::CPosePDFSOG, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFGaussian, and mrpt::poses::CPosePDFGrid.
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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 89 of file CSerializable.h.
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protectedpure virtualinherited |
Introduces a pure virtual method responsible for writing to a CStream.
This can not be used directly be users, instead use "stream << object;" for writing it to a stream.
out | The output binary stream where object must be dumped. |
getVersion | If nullptr, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. |
std::exception | On any error, see CStream::WriteBuffer |
Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::maps::CMultiMetricMap, mrpt::utils::CSimpleDatabase, mrpt::utils::CImage, mrpt::obs::CObservationIMU, mrpt::maps::TMapGenericParams, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CMultiMetricMapPDF, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::obs::CObservationVelodyneScan, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::opengl::COctoMapVoxels, mrpt::kinematics::CKinematicChain, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservationGPS, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::vision::CFeature, mrpt::nav::CHolonomicND, mrpt::obs::CObservation2DRangeScan, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::opengl::CPointCloud, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::poses::CPose3DQuat, mrpt::pbmap::Plane, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::detectors::CDetectable2D, mrpt::hmtslam::CLSLAMParticleData, mrpt::maps::CBeaconMap, mrpt::poses::CPose3DRotVec, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPointPDFParticles, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CPolyhedron, mrpt::poses::CPose3DPDFGaussianInf, mrpt::maps::CReflectivityGridMap2D, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::maps::CBeacon, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CBox, mrpt::poses::CPose2D, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DPDFGaussian, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::utils::CMHPropertiesValuesList, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPosePDFGaussianInf, mrpt::maps::CHeightGridMap2D_MRF, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::opengl::CColorBar, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::opengl::CSetOfLines, mrpt::maps::CLandmark, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::COctoMap, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationBatteryState, mrpt::opengl::CDisk, mrpt::poses::CPoint3D, mrpt::utils::CStringList, mrpt::utils::TCamera, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPosePDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::maps::CSimplePointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::slam::CIncrementalMapPartitioner, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::obs::CObservationRange, mrpt::opengl::CSetOfObjects, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CSplineInterpolator1D, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPosePDFGrid, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::math::CMatrixD, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::opengl::C3DSScene, mrpt::opengl::COpenGLStandardObject, mrpt::math::CMatrix, mrpt::poses::CPointPDFGaussian, mrpt::utils::TStereoCamera, mrpt::opengl::CSetOfTriangles, mrpt::math::CMatrixB, mrpt::poses::TSimple3DPoint, mrpt::utils::CMemoryChunk, mrpt::utils::CPropertiesValuesList, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::math::CPolygon, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::CSimpleDatabaseTable, mrpt::utils::CTypeSelector, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::kinematics::CVehicleVelCmd_DiffDriven, and mrpt::kinematics::CVehicleVelCmd_Holo.
Referenced by mrpt::utils::CStream::WriteObject(), mrpt::maps::CColouredOctoMap::writeToStream(), and mrpt::maps::COctoMap::writeToStream().
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friend |
Definition at line 44 of file CPosePDF.h.
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staticprotected |
Definition at line 44 of file CPosePDF.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 34 of file CProbabilityDensityFunction.h.
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