MRPT  1.9.9
CEllipsoidRangeBearing2D.h
Go to the documentation of this file.
1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #ifndef opengl_CEllipsoidRangeBearing2D_H
10 #define opengl_CEllipsoidRangeBearing2D_H
11 
13 
14 namespace mrpt::opengl
15 {
16 /** An especial "ellipsoid" in 2D computed as the uncertainty iso-surfaces of a
17  * (range,bearing) variable.
18  * The parameter space of this ellipsoid comprises these variables (in this
19  * order):
20  * - range: Distance from sensor to feature.
21  * - bearing: Angle from +X to the line that goes from the sensor towards the
22  * feature.
23  *
24  * This class expects you to provide a mean vector of length 2 and a 2x2
25  * covariance matrix, set with \a setCovMatrixAndMean().
26  *
27  * Please read the documentation of
28  * CGeneralizedEllipsoidTemplate::setQuantiles() for learning
29  * the mathematical details about setting the desired confidence interval.
30  *
31  * <div align="center">
32  * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
33  * border-style: solid;">
34  * <tr> <td> mrpt::opengl::CEllipsoidRangeBearing2D </td> <td> \image html
35  * preview_CEllipsoidRangeBearing2D.png </td> </tr>
36  * </table>
37  * </div>
38  *
39  * \ingroup mrpt_opengl_grp
40  */
42 {
45  protected:
46  /** To be implemented by derived classes: maps, using some arbitrary space
47  * transformation, a list of points
48  * defining an ellipsoid in parameter space into their corresponding
49  * points in 2D/3D space.
50  */
51  virtual void transformFromParameterSpace(
52  const std::vector<BASE::array_parameter_t>& in_pts,
53  std::vector<BASE::array_point_t>& out_pts) const override;
54  /** Constructor
55  */
56  public:
58  /** Private, virtual destructor: only can be deleted from smart pointers */
60 };
61 
62 }
63 #endif
64 
65 
A class that generalizes the concept of an ellipsoid to arbitrary parameterizations of uncertainty sh...
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
The namespace for 3D scene representation and rendering.
Definition: CGlCanvasBase.h:15
virtual void transformFromParameterSpace(const std::vector< BASE::array_parameter_t > &in_pts, std::vector< BASE::array_point_t > &out_pts) const override
To be implemented by derived classes: maps, using some arbitrary space transformation, a list of points defining an ellipsoid in parameter space into their corresponding points in 2D/3D space.
virtual ~CEllipsoidRangeBearing2D()
Private, virtual destructor: only can be deleted from smart pointers.
An especial "ellipsoid" in 2D computed as the uncertainty iso-surfaces of a (range,bearing) variable.



Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: 7d5e6d718 Fri Aug 24 01:51:28 2018 +0200 at lun nov 2 08:35:50 CET 2020