MRPT
1.9.9
|
Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually), by means of a 7-vector with a translation [x y z] and a quaternion [qr qx qy qz].
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 44 of file CPose3DQuatPDF.h.
#include <mrpt/poses/CPose3DQuatPDF.h>
Public Types | |
using | type_value = CPose3DQuat |
The type of the state the PDF represents. More... | |
using | self_t = CProbabilityDensityFunction< CPose3DQuat, STATE_LEN > |
Public Member Functions | |
virtual void | copyFrom (const CPose3DQuatPDF &o)=0 |
Copy operator, translating if necesary (for example, between particles and gaussian representations) More... | |
virtual void | inverse (CPose3DQuatPDF &o) const =0 |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. More... | |
virtual void | changeCoordinatesReference (const CPose3D &newReferenceBase)=0 |
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 (CPose3DQuat &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, CPose3DQuat &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, CPose3DQuat &mean_point) const |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More... | |
CPose3DQuat | 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 bool | saveToTextFile (const std::string &file) const=0 |
Save PDF's particles to a text file. More... | |
virtual void | drawSingleSample (CPose3DQuat &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 |
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 CPose3DQuatPDF * | 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) It returns a new object of any of the derived classes of CPose3DQuatPDF. More... | |
static void | jacobiansPoseComposition (const CPose3DQuat &x, const CPose3DQuat &u, mrpt::math::CMatrixDouble77 &df_dx, mrpt::math::CMatrixDouble77 &df_du, CPose3DQuat *out_x_oplus_u=nullptr) |
This static method computes the two Jacobians of a pose composition operation $f(x,u)= x u$. More... | |
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 | serializeFrom (CArchive &in, uint8_t serial_version)=0 |
Pure virtual method for reading (deserializing) from an abstract archive. More... | |
RTTI stuff | |
using | Ptr = std::shared_ptr< CPose3DQuatPDF > |
using | ConstPtr = std::shared_ptr< const CPose3DQuatPDF > |
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 () |
using mrpt::poses::CPose3DQuatPDF::ConstPtr = std::shared_ptr<const CPose3DQuatPDF > |
Definition at line 48 of file CPose3DQuatPDF.h.
Definition at line 48 of file CPose3DQuatPDF.h.
|
inherited |
Definition at line 34 of file CProbabilityDensityFunction.h.
|
inherited |
The type of the state the PDF represents.
Definition at line 33 of file CProbabilityDensityFunction.h.
|
staticprotected |
|
pure virtual |
Implemented in mrpt::poses::CPose3DQuatPDFGaussian, and mrpt::poses::CPose3DQuatPDFGaussianInf.
|
pure virtualinherited |
Returns a deep copy (clone) of the object, indepently of its class.
Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_FullEval, mrpt::nav::CLogFileRecord_ND, mrpt::maps::CMultiMetricMap, mrpt::img::CImage, mrpt::db::CSimpleDatabase, mrpt::obs::CObservationIMU, mrpt::maps::TMapGenericParams, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::obs::CObservationVelodyneScan, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::kinematics::CKinematicChain, mrpt::obs::CObservationGPS, mrpt::maps::CMultiMetricMapPDF, mrpt::opengl::COctoMapVoxels, mrpt::maps::CHeightGridMap2D, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::slam::CIncrementalMapPartitioner, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::obs::CObservation2DRangeScan, mrpt::vision::CFeature, mrpt::nav::CHolonomicFullEval, mrpt::nav::CHolonomicND, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::poses::CPose3DInterpolator, mrpt::opengl::CPointCloudColoured, mrpt::poses::CPose3DQuat, mrpt::opengl::CPointCloud, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::pbmap::PbMap, mrpt::detectors::CDetectable2D, mrpt::hmtslam::CLSLAMParticleData, mrpt::maps::CBeaconMap, mrpt::opengl::CPolyhedron, mrpt::pbmap::Plane, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CText3D, mrpt::poses::CPose3DRotVec, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::maps::CReflectivityGridMap2D, mrpt::poses::CPose3DPDFGaussianInf, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CAssimpModel, mrpt::opengl::CBox, mrpt::poses::CPose3DPDFGaussian, mrpt::obs::CObservationStereoImages, mrpt::opengl::CMeshFast, mrpt::opengl::CVectorField3D, mrpt::poses::CPose2D, mrpt::poses::CPosePDFParticles, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, MyNS::Bar, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFParticles, mrpt::hmtslam::CMHPropertiesValuesList, mrpt::maps::CBeacon, mrpt::maps::COctoMap, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::maps::CRBPFParticleData, mrpt::maps::CHeightGridMap2D_MRF, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::opengl::CColorBar, mrpt::opengl::CVectorField2D, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::maps::CColouredOctoMap, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::serialization::CMemoryChunkBase< Derived >, mrpt::maps::CLandmark, mrpt::poses::CPoint3D, mrpt::poses::CPose3DPDFSOG, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::CSimplePointsMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CDisk, mrpt::opengl::CSetOfLines, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPointPDFParticles, mrpt::maps::CColouredPointsMap, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::poses::CPosePDFGaussian, mrpt::obs::CObservationRange, mrpt::img::TCamera, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CMultiObjMotionOpt_Scalarization, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionCollection, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::opengl::CSetOfObjects, mrpt::obs::CObservationVisualLandmarks, 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::poses::CPosePDFGrid, mrpt::math::CSplineInterpolator1D, mrpt::opengl::COpenGLStandardObject, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::img::TStereoCamera, mrpt::math::CMatrixD, mrpt::opengl::CSetOfTriangles, mrpt::poses::CPointPDFGaussian, mrpt::hmtslam::CPropertiesValuesList, mrpt::math::CMatrix, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::math::CMatrixB, mrpt::opengl::CSetOfTexturedTriangles, mrpt::poses::CPoint2DPDFGaussian, mrpt::math::CPolygon, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, MyNS::Foo, mrpt::db::CSimpleDatabaseTable, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, MyNS::Foo, and MyNS::MyDerived1.
Referenced by mrpt::rtti::CObject::duplicateGetSmartPtr(), mrpt::maps::CSimpleMap::insert(), mrpt::obs::CActionCollection::insert(), and mrpt::poses::CPoseRandomSampler::setPosePDF().
|
pure virtual |
Copy operator, translating if necesary (for example, between particles and gaussian representations)
Implemented in mrpt::poses::CPose3DQuatPDFGaussianInf, and mrpt::poses::CPose3DQuatPDFGaussian.
|
static |
This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of CPose3DQuatPDF.
This object must be deleted by the user when not required anymore.
Definition at line 26 of file CPose3DQuatPDF.cpp.
References MRPT_END, and MRPT_START.
|
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::CPose3DQuatPDFGaussian, and mrpt::poses::CPose3DQuatPDFGaussianInf.
Definition at line 152 of file CProbabilityDensityFunction.h.
|
pure virtualinherited |
Draws a single sample from the distribution.
|
inlineinherited |
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).
Definition at line 168 of file CObject.h.
References mrpt::rtti::CObject::clone().
Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().
|
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 96 of file CPose3DQuatPDF.h.
References mrpt::opengl::posePDF2opengl().
|
inline |
Returns a 3D representation of this PDF.
Definition at line 107 of file CPose3DQuatPDF.h.
References mrpt::opengl::posePDF2opengl().
|
inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 78 of file CProbabilityDensityFunction.h.
|
inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 88 of file CProbabilityDensityFunction.h.
|
inlineinherited |
Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
Definition at line 101 of file CProbabilityDensityFunction.h.
|
pure virtualinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
|
inlineinherited |
Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
Definition at line 54 of file CProbabilityDensityFunction.h.
|
inlineinherited |
Compute the entropy of the estimated covariance matrix.
Definition at line 168 of file CProbabilityDensityFunction.h.
|
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 124 of file CProbabilityDensityFunction.h.
|
pure virtualinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
|
inlineinherited |
Returns the mean, or mathematical expectation of the probability density distribution (PDF).
Definition at line 67 of file CProbabilityDensityFunction.h.
|
overridevirtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::serialization::CSerializable.
Reimplemented in mrpt::poses::CPose3DQuatPDFGaussian, and mrpt::poses::CPose3DQuatPDFGaussianInf.
Referenced by mrpt::poses::CPose3DQuatPDFGaussianInf::inverse(), and mrpt::poses::CPose3DQuatPDFGaussian::inverse().
|
static |
|
pure virtual |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
Implemented in mrpt::poses::CPose3DQuatPDFGaussian, and mrpt::poses::CPose3DQuatPDFGaussianInf.
|
inlinevirtualinherited |
Returns whether the class instance holds the uncertainty in covariance or information form.
Reimplemented in mrpt::poses::CPose3DQuatPDFGaussianInf.
Definition at line 117 of file CProbabilityDensityFunction.h.
|
static |
This static method computes the two Jacobians of a pose composition operation $f(x,u)= x u$.
out_x_oplus_u | If set to !=nullptr, the result of "x+u" will be stored here (it will be computed internally anyway). To see the mathematical derivation of the formulas, refer to the technical report here: |
Definition at line 41 of file CPose3DQuatPDF.cpp.
References MRPT_MAX_ALIGN_BYTES, mrpt::math::CQuaternion< T >::normalizationJacobian(), mrpt::poses::CPose3DQuat::quat(), mrpt::math::CQuaternion< T >::r(), mrpt::square(), mrpt::math::UNINITIALIZED_MATRIX, mrpt::math::CQuaternion< T >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::math::CQuaternion< T >::y(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::math::CQuaternion< T >::z().
Referenced by mrpt::poses::CPose3DQuatPDFGaussianInf::changeCoordinatesReference(), mrpt::poses::CPose3DQuatPDFGaussian::changeCoordinatesReference(), mrpt::poses::CPose3DPDF::jacobiansPoseComposition(), mrpt::poses::CPose3DQuatPDFGaussianInf::operator+=(), mrpt::poses::CPose3DQuatPDFGaussian::operator+=(), and Pose3DQuatPDFGaussTests::testCompositionJacobian().
|
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::CPose3DQuatPDFGaussian, and mrpt::poses::CPose3DQuatPDFGaussianInf.
|
protectedpure virtualinherited |
Pure virtual method for reading (deserializing) from an abstract archive.
Users don't call this method directly. Instead, use stream >> object;
.
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 |
Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_FullEval, mrpt::nav::CLogFileRecord_ND, mrpt::maps::CMultiMetricMap, mrpt::img::CImage, mrpt::db::CSimpleDatabase, mrpt::obs::CObservationIMU, mrpt::maps::TMapGenericParams, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::obs::CObservationVelodyneScan, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::kinematics::CKinematicChain, mrpt::obs::CObservationGPS, mrpt::maps::CMultiMetricMapPDF, mrpt::opengl::COctoMapVoxels, mrpt::maps::CHeightGridMap2D, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::slam::CIncrementalMapPartitioner, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::obs::CObservation2DRangeScan, mrpt::vision::CFeature, mrpt::nav::CHolonomicFullEval, mrpt::nav::CHolonomicND, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::poses::CPose3DInterpolator, mrpt::opengl::CPointCloudColoured, mrpt::poses::CPose3DQuat, mrpt::opengl::CPointCloud, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::pbmap::PbMap, mrpt::detectors::CDetectable2D, mrpt::hmtslam::CLSLAMParticleData, mrpt::maps::CBeaconMap, mrpt::opengl::CPolyhedron, mrpt::pbmap::Plane, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CText3D, mrpt::poses::CPose3DRotVec, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::maps::CReflectivityGridMap2D, mrpt::poses::CPose3DPDFGaussianInf, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CAssimpModel, mrpt::opengl::CBox, mrpt::poses::CPose3DPDFGaussian, mrpt::obs::CObservationStereoImages, mrpt::opengl::CMeshFast, mrpt::opengl::CVectorField3D, mrpt::poses::CPose2D, mrpt::poses::CPosePDFParticles, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFParticles, mrpt::hmtslam::CMHPropertiesValuesList, mrpt::maps::CBeacon, mrpt::maps::COctoMap, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::maps::CRBPFParticleData, mrpt::maps::CHeightGridMap2D_MRF, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::opengl::CColorBar, mrpt::opengl::CVectorField2D, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::maps::CColouredOctoMap, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::serialization::CMemoryChunkBase< Derived >, mrpt::maps::CLandmark, mrpt::poses::CPoint3D, mrpt::poses::CPose3DPDFSOG, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::CSimplePointsMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CDisk, mrpt::opengl::CSetOfLines, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPointPDFParticles, mrpt::maps::CColouredPointsMap, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::poses::CPosePDFGaussian, mrpt::obs::CObservationRange, mrpt::img::TCamera, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionCollection, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::opengl::CSetOfObjects, mrpt::obs::CObservationVisualLandmarks, 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::poses::CPosePDFGrid, mrpt::math::CSplineInterpolator1D, mrpt::opengl::COpenGLStandardObject, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::img::TStereoCamera, mrpt::math::CMatrixD, mrpt::opengl::CSetOfTriangles, mrpt::poses::CPointPDFGaussian, mrpt::hmtslam::CPropertiesValuesList, mrpt::math::CMatrix, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::math::CMatrixB, mrpt::opengl::CSetOfTexturedTriangles, mrpt::poses::CPoint2DPDFGaussian, mrpt::math::CPolygon, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::db::CSimpleDatabaseTable, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, and MyNS::Foo.
|
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.
Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_FullEval, mrpt::nav::CLogFileRecord_ND, mrpt::maps::CMultiMetricMap, mrpt::img::CImage, mrpt::db::CSimpleDatabase, mrpt::obs::CObservationIMU, mrpt::maps::TMapGenericParams, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::obs::CObservationVelodyneScan, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::kinematics::CKinematicChain, mrpt::obs::CObservationGPS, mrpt::maps::CMultiMetricMapPDF, mrpt::opengl::COctoMapVoxels, mrpt::maps::CHeightGridMap2D, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::slam::CIncrementalMapPartitioner, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::obs::CObservation2DRangeScan, mrpt::vision::CFeature, mrpt::nav::CHolonomicFullEval, mrpt::nav::CHolonomicND, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::poses::CPose3DInterpolator, mrpt::opengl::CPointCloudColoured, mrpt::poses::CPose3DQuat, mrpt::opengl::CPointCloud, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::pbmap::PbMap, mrpt::detectors::CDetectable2D, mrpt::hmtslam::CLSLAMParticleData, mrpt::maps::CBeaconMap, mrpt::opengl::CPolyhedron, mrpt::pbmap::Plane, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CText3D, mrpt::poses::CPose3DRotVec, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::maps::CReflectivityGridMap2D, mrpt::poses::CPose3DPDFGaussianInf, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CAssimpModel, mrpt::opengl::CBox, mrpt::poses::CPose3DPDFGaussian, mrpt::obs::CObservationStereoImages, mrpt::opengl::CMeshFast, mrpt::opengl::CVectorField3D, mrpt::poses::CPose2D, mrpt::poses::CPosePDFParticles, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFParticles, mrpt::hmtslam::CMHPropertiesValuesList, mrpt::maps::CBeacon, mrpt::maps::COctoMap, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::maps::CRBPFParticleData, mrpt::maps::CHeightGridMap2D_MRF, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::opengl::CColorBar, mrpt::opengl::CVectorField2D, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::maps::CColouredOctoMap, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::serialization::CMemoryChunkBase< Derived >, mrpt::maps::CLandmark, mrpt::poses::CPoint3D, mrpt::poses::CPose3DPDFSOG, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::CSimplePointsMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CDisk, mrpt::opengl::CSetOfLines, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPointPDFParticles, mrpt::maps::CColouredPointsMap, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::poses::CPosePDFGaussian, mrpt::obs::CObservationRange, mrpt::img::TCamera, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionCollection, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::opengl::CSetOfObjects, mrpt::obs::CObservationVisualLandmarks, 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::poses::CPosePDFGrid, mrpt::math::CSplineInterpolator1D, mrpt::opengl::COpenGLStandardObject, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::img::TStereoCamera, mrpt::math::CMatrixD, mrpt::opengl::CSetOfTriangles, mrpt::poses::CPointPDFGaussian, mrpt::hmtslam::CPropertiesValuesList, mrpt::math::CMatrix, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::math::CMatrixB, mrpt::opengl::CSetOfTexturedTriangles, mrpt::poses::CPoint2DPDFGaussian, mrpt::math::CPolygon, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::db::CSimpleDatabaseTable, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, and MyNS::Foo.
Referenced by mrpt::serialization::CArchive::WriteObject().
|
protectedpure virtualinherited |
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 |
Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_FullEval, mrpt::nav::CLogFileRecord_ND, mrpt::maps::CMultiMetricMap, mrpt::img::CImage, mrpt::db::CSimpleDatabase, mrpt::obs::CObservationIMU, mrpt::maps::TMapGenericParams, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::obs::CObservationVelodyneScan, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::kinematics::CKinematicChain, mrpt::obs::CObservationGPS, mrpt::maps::CMultiMetricMapPDF, mrpt::opengl::COctoMapVoxels, mrpt::maps::CHeightGridMap2D, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::slam::CIncrementalMapPartitioner, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::obs::CObservation2DRangeScan, mrpt::vision::CFeature, mrpt::nav::CHolonomicFullEval, mrpt::nav::CHolonomicND, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::poses::CPose3DInterpolator, mrpt::opengl::CPointCloudColoured, mrpt::poses::CPose3DQuat, mrpt::opengl::CPointCloud, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::pbmap::PbMap, mrpt::detectors::CDetectable2D, mrpt::hmtslam::CLSLAMParticleData, mrpt::maps::CBeaconMap, mrpt::opengl::CPolyhedron, mrpt::pbmap::Plane, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CText3D, mrpt::poses::CPose3DRotVec, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::maps::CReflectivityGridMap2D, mrpt::poses::CPose3DPDFGaussianInf, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CAssimpModel, mrpt::opengl::CBox, mrpt::poses::CPose3DPDFGaussian, mrpt::obs::CObservationStereoImages, mrpt::opengl::CMeshFast, mrpt::opengl::CVectorField3D, mrpt::poses::CPose2D, mrpt::poses::CPosePDFParticles, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFParticles, mrpt::hmtslam::CMHPropertiesValuesList, mrpt::maps::CBeacon, mrpt::maps::COctoMap, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::maps::CRBPFParticleData, mrpt::maps::CHeightGridMap2D_MRF, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::opengl::CColorBar, mrpt::opengl::CVectorField2D, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::maps::CColouredOctoMap, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::serialization::CMemoryChunkBase< Derived >, mrpt::maps::CLandmark, mrpt::poses::CPoint3D, mrpt::poses::CPose3DPDFSOG, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::CSimplePointsMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CDisk, mrpt::opengl::CSetOfLines, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPointPDFParticles, mrpt::maps::CColouredPointsMap, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::poses::CPosePDFGaussian, mrpt::obs::CObservationRange, mrpt::img::TCamera, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionCollection, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::opengl::CSetOfObjects, mrpt::obs::CObservationVisualLandmarks, 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::poses::CPosePDFGrid, mrpt::math::CSplineInterpolator1D, mrpt::opengl::COpenGLStandardObject, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::img::TStereoCamera, mrpt::math::CMatrixD, mrpt::opengl::CSetOfTriangles, mrpt::poses::CPointPDFGaussian, mrpt::hmtslam::CPropertiesValuesList, mrpt::math::CMatrix, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::math::CMatrixB, mrpt::opengl::CSetOfTexturedTriangles, mrpt::poses::CPoint2DPDFGaussian, mrpt::math::CPolygon, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::db::CSimpleDatabaseTable, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, and MyNS::Foo.
Referenced by mrpt::serialization::CArchive::WriteObject().
|
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 68 of file CSerializable.h.
|
staticprotected |
Definition at line 48 of file CPose3DQuatPDF.h.
|
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 31 of file CProbabilityDensityFunction.h.
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 |