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mrpt::poses::CPoint2DPDF Class Referenceabstract

Detailed Description

Declares a class that represents a Probability Distribution function (PDF) of a 2D point (x,y).

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.

For a similar class for 6D poses (a 3D point with attitude), see CPose3DPDF

See also the tutorial on probabilistic spatial representations in the MRPT.

See Also
CPoint2D, CPointPDF

Definition at line 35 of file CPoint2DPDF.h.

#include <mrpt/poses/CPoint2DPDF.h>

Inheritance diagram for mrpt::poses::CPoint2DPDF:
Inheritance graph

Public Types

enum  { is_3D_val = 0 }
 
enum  { is_PDF_val = 1 }
 
typedef CPoint2D type_value
 The type of the state the PDF represents. More...
 
typedef
CProbabilityDensityFunction
< CPoint2D, STATE_LEN > 
self_t
 

Public Member Functions

virtual void copyFrom (const CPoint2DPDF &o)=0
 Copy operator, translating if necesary (for example, between particles and gaussian representations) More...
 
virtual void bayesianFusion (const CPoint2DPDF &p1, const CPoint2DPDF &p2, const double &minMahalanobisDistToDrop=0)=0
 Bayesian fusion of two point 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 mxArraywriteToMatlab () 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 CObjectduplicate () const =0
 Returns a copy of the object, indepently of its class. More...
 
mrpt::utils::CObjectPtr 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...
 
CObjectclone () const
 Cloning interface for smart pointers. More...
 
virtual void getMean (CPoint2D &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, CPoint2D &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, CPoint2D &mean_point) const
 Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...
 
CPoint2D 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 (CPoint2D &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...
 

Static Public Member Functions

static bool is_3D ()
 
static bool is_PDF ()
 

Static Public Attributes

static const
mrpt::utils::TRuntimeClassId 
classCObject
 
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...
 
RTTI stuff
static const
mrpt::utils::TRuntimeClassId 
classCSerializable
 

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

typedef CPoint2DPDFPtr Ptr
 
typedef CPoint2DPDFPtr ConstPtr
 
static const
mrpt::utils::TRuntimeClassId 
classCPoint2DPDF
 
class mrpt::utils::CStream
 
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
 
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 

Member Typedef Documentation

typedef CPoint2DPDFPtr mrpt::poses::CPoint2DPDF::ConstPtr

Definition at line 37 of file CPoint2DPDF.h.

typedef CPoint2DPDFPtr mrpt::poses::CPoint2DPDF::Ptr

Definition at line 37 of file CPoint2DPDF.h.

typedef CProbabilityDensityFunction<CPoint2D , STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::self_t
inherited

Definition at line 33 of file CProbabilityDensityFunction.h.

The type of the state the PDF represents.

Definition at line 32 of file CProbabilityDensityFunction.h.

Member Enumeration Documentation

anonymous enum
Enumerator
is_3D_val 

Definition at line 51 of file CPoint2DPDF.h.

anonymous enum
Enumerator
is_PDF_val 

Definition at line 53 of file CPoint2DPDF.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoint2DPDF::_GetBaseClass ( )
staticprotected
virtual void mrpt::poses::CPoint2DPDF::bayesianFusion ( const CPoint2DPDF p1,
const CPoint2DPDF p2,
const double &  minMahalanobisDistToDrop = 0 
)
pure virtual

Bayesian fusion of two point 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!)

Parameters
p1The first distribution to fuse
p2The second distribution to fuse
minMahalanobisDistToDropIf 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::CPoint2DPDFGaussian.

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::changeCoordinatesReference ( const mrpt::poses::CPose3D newReferenceBase)
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::CPoint2DPDFGaussian.

CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

virtual void mrpt::poses::CPoint2DPDF::copyFrom ( const CPoint2DPDF o)
pure virtual

Copy operator, translating if necesary (for example, between particles and gaussian representations)

Implemented in mrpt::poses::CPoint2DPDFGaussian.

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::drawManySamples ( size_t  N,
std::vector< mrpt::math::CVectorDouble > &  outSamples 
) const
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.

Definition at line 125 of file CProbabilityDensityFunction.h.

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::drawSingleSample ( CPoint2D &  outPart) const
pure virtualinherited

Draws a single sample from the distribution.

virtual CObject* mrpt::utils::CObject::duplicate ( ) const
pure virtualinherited

Returns a copy of the object, indepently of its class.

Implemented in mrpt::nav::CLogFileRecord_ND, mrpt::obs::CObservation3DRangeScan, mrpt::maps::CMultiMetricMap, mrpt::utils::CSimpleDatabase, mrpt::nav::CLogFileRecord_FullEval, mrpt::utils::CImage, mrpt::gui::CDisplayWindow3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CRandomFieldGridMap3D, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CMultiMetricMapPDF, mrpt::obs::CObservationRGBD360, mrpt::maps::TMapGenericParams, mrpt::hmtslam::CHMTSLAM, mrpt::obs::CObservationGPS, mrpt::maps::CLandmarksMap, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COctoMapVoxels, mrpt::poses::CPointPDFParticles, mrpt::opengl::COpenGLViewport, mrpt::obs::CObservationVelodyneScan, mrpt::vision::CFeature, mrpt::kinematics::CKinematicChain, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicVFF, mrpt::obs::CRawlog, mrpt::obs::CSensoryFrame, mrpt::nav::CHolonomicND, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicFullEval, mrpt::opengl::CPointCloud, mrpt::detectors::CDetectable2D, mrpt::opengl::COpenGLScene, mrpt::pbmap::Plane, mrpt::poses::CPose2DInterpolator, mrpt::opengl::CFrustum, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::maps::CBeaconMap, mrpt::maps::CReflectivityGridMap2D, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::obs::CObservation2DRangeScan, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3DRotVec, mrpt::utils::CMHPropertiesValuesList, mrpt::hmtslam::CHMHMapNode, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::maps::CBeacon, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAngularObservationMesh, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPose2D, mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CRobotPosesGraph, mrpt::maps::COctoMap, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPointPDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::obs::CObservationImage, mrpt::opengl::CBox, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::hmtslam::CHierarchicalMHMap, mrpt::hmtslam::CHMHMapArc, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CSetOfLines, mrpt::maps::CLandmark, mrpt::maps::CColouredOctoMap, mrpt::maps::CSimplePointsMap, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CDisk, mrpt::opengl::CSphere, mrpt::poses::CPoint3D, mrpt::poses::CPosePDFGaussian, mrpt::utils::CStringList, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationWindSensor, mrpt::opengl::CCamera, mrpt::opengl::CColorBar, mrpt::opengl::CPolyhedron, mrpt::slam::CIncrementalMapPartitioner, mrpt::gui::CDisplayWindowPlots, mrpt::obs::CActionCollection, mrpt::opengl::CSetOfObjects, mrpt::math::CMatrix, mrpt::math::CMatrixD, mrpt::poses::CPosePDFGrid, mrpt::utils::TCamera, mrpt::obs::CObservationRange, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservationSkeleton, mrpt::math::CSplineInterpolator1D, mrpt::utils::CSimpleDatabaseTable, mrpt::gui::CDisplayWindow, mrpt::nav::CLogFileRecord_VFF, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationWirelessPower, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationRFID, mrpt::opengl::CCylinder, mrpt::opengl::CSetOfTriangles, mrpt::poses::TSimple3DPoint, mrpt::utils::CMemoryChunk, mrpt::nav::CMultiObjMotionOpt_Scalarization, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationReflectivity, mrpt::opengl::C3DSScene, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CMatrixB, mrpt::poses::CPointPDFGaussian, mrpt::utils::CPropertiesValuesList, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::math::CPolygon, mrpt::utils::CTypeSelector, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::TStereoCamera, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, and mrpt::opengl::COpenGLStandardObject.

Referenced by mrpt::obs::CActionCollection::CActionCollection(), mrpt::poses::CPoseRandomSampler::CPoseRandomSampler(), mrpt::maps::CSimpleMap::insert(), mrpt::obs::CActionCollection::insert(), mrpt::poses::CPoseRandomSampler::operator=(), and mrpt::poses::CPoseRandomSampler::setPosePDF().

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
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 140 of file CObject.h.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

void mrpt::utils::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::getCovariance ( mrpt::math::CMatrixDouble cov) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See Also
getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 68 of file CProbabilityDensityFunction.h.

void mrpt::utils::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::getCovariance ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  cov) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See Also
getMean, getCovarianceAndMean, getInformationMatrix

Definition at line 77 of file CProbabilityDensityFunction.h.

mrpt::math::CMatrixFixedNumeric<double,STATE_LEN,STATE_LEN> mrpt::utils::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::getCovariance ( ) const
inlineinherited

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See Also
getMean, getInformationMatrix

Definition at line 86 of file CProbabilityDensityFunction.h.

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::getCovarianceAndMean ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  cov,
CPoint2D &  mean_point 
) const
pure virtualinherited

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See Also
getMean, getInformationMatrix
void mrpt::utils::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::getCovarianceDynAndMean ( mrpt::math::CMatrixDouble cov,
CPoint2D &  mean_point 
) const
inlineinherited

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See Also
getMean, getInformationMatrix

Definition at line 48 of file CProbabilityDensityFunction.h.

double mrpt::utils::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::getCovarianceEntropy ( ) const
inlineinherited

Compute the entropy of the estimated covariance matrix.

See Also
http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy

Definition at line 144 of file CProbabilityDensityFunction.h.

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::getInformationMatrix ( mrpt::math::CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &  inf) const
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.

See Also
getMean, getCovarianceAndMean

Definition at line 106 of file CProbabilityDensityFunction.h.

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::getMean ( CPoint2D &  mean_point) const
pure virtualinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See Also
getCovarianceAndMean, getInformationMatrix
CPoint2D mrpt::utils::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::getMeanVal ( ) const
inlineinherited

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See Also
getCovariance, getInformationMatrix

Definition at line 58 of file CProbabilityDensityFunction.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoint2DPDF::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

Reimplemented in mrpt::poses::CPoint2DPDFGaussian.

Referenced by mrpt::poses::CPoint2DPDFGaussian::bayesianFusion().

static bool mrpt::poses::CPoint2DPDF::is_3D ( )
inlinestatic

Definition at line 52 of file CPoint2DPDF.h.

static bool mrpt::poses::CPoint2DPDF::is_PDF ( )
inlinestatic

Definition at line 54 of file CPoint2DPDF.h.

virtual bool mrpt::utils::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::isInfType ( ) const
inlinevirtualinherited

Returns whether the class instance holds the uncertainty in covariance or information form.

Note
By default this is going to be covariance form. *Inf classes (e.g. CPosePDFGaussianInf) store it in information form.
See Also
mrpt::traits::is_inf_type

Definition at line 100 of file CProbabilityDensityFunction.h.

virtual void mrpt::utils::CSerializable::readFromStream ( mrpt::utils::CStream in,
int  version 
)
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.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See Also
CStream

Implemented in mrpt::nav::CLogFileRecord_ND, mrpt::obs::CObservation3DRangeScan, mrpt::maps::CMultiMetricMap, mrpt::utils::CSimpleDatabase, mrpt::nav::CLogFileRecord_FullEval, mrpt::utils::CImage, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CRandomFieldGridMap3D, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CMultiMetricMapPDF, mrpt::obs::CObservationRGBD360, mrpt::maps::TMapGenericParams, mrpt::hmtslam::CHMTSLAM, mrpt::obs::CObservationGPS, mrpt::maps::CLandmarksMap, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COctoMapVoxels, mrpt::poses::CPointPDFParticles, mrpt::opengl::COpenGLViewport, mrpt::obs::CObservationVelodyneScan, mrpt::vision::CFeature, mrpt::kinematics::CKinematicChain, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicVFF, mrpt::obs::CRawlog, mrpt::obs::CSensoryFrame, mrpt::nav::CHolonomicND, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicFullEval, mrpt::opengl::CPointCloud, mrpt::detectors::CDetectable2D, mrpt::opengl::COpenGLScene, mrpt::pbmap::Plane, mrpt::poses::CPose2DInterpolator, mrpt::opengl::CFrustum, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::maps::CBeaconMap, mrpt::maps::CReflectivityGridMap2D, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::obs::CObservation2DRangeScan, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3DRotVec, mrpt::utils::CMHPropertiesValuesList, mrpt::hmtslam::CHMHMapNode, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::maps::CBeacon, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAngularObservationMesh, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPose2D, mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CRobotPosesGraph, mrpt::maps::COctoMap, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPointPDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::obs::CObservationImage, mrpt::opengl::CBox, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::hmtslam::CHierarchicalMHMap, mrpt::hmtslam::CHMHMapArc, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CSetOfLines, mrpt::maps::CLandmark, mrpt::maps::CColouredOctoMap, mrpt::maps::CSimplePointsMap, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CDisk, mrpt::opengl::CSphere, mrpt::poses::CPoint3D, mrpt::poses::CPosePDFGaussian, mrpt::utils::CStringList, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationWindSensor, mrpt::opengl::CCamera, mrpt::opengl::CColorBar, mrpt::opengl::CPolyhedron, mrpt::slam::CIncrementalMapPartitioner, mrpt::obs::CActionCollection, mrpt::opengl::CSetOfObjects, mrpt::math::CMatrix, mrpt::math::CMatrixD, mrpt::poses::CPosePDFGrid, mrpt::utils::TCamera, mrpt::obs::CObservationRange, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservationSkeleton, mrpt::math::CSplineInterpolator1D, mrpt::utils::CSimpleDatabaseTable, mrpt::nav::CLogFileRecord_VFF, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationWirelessPower, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationRFID, mrpt::opengl::CCylinder, mrpt::opengl::CSetOfTriangles, mrpt::poses::TSimple3DPoint, mrpt::utils::CMemoryChunk, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationReflectivity, mrpt::opengl::C3DSScene, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CMatrixB, mrpt::poses::CPointPDFGaussian, mrpt::utils::CPropertiesValuesList, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::math::CPolygon, mrpt::utils::CTypeSelector, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::TStereoCamera, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, and mrpt::opengl::COpenGLStandardObject.

Referenced by mrpt::utils::CStream::internal_ReadObject().

virtual void mrpt::utils::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::saveToTextFile ( const std::string file) const
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::CPoint2DPDFGaussian.

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
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.

Returns
A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

virtual void mrpt::utils::CSerializable::writeToStream ( mrpt::utils::CStream out,
int getVersion 
) const
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.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf NULL, 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.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See Also
CStream

Implemented in mrpt::nav::CLogFileRecord_ND, mrpt::obs::CObservation3DRangeScan, mrpt::maps::CMultiMetricMap, mrpt::utils::CSimpleDatabase, mrpt::nav::CLogFileRecord_FullEval, mrpt::utils::CImage, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CRandomFieldGridMap3D, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::maps::COccupancyGridMap2D, mrpt::maps::CMultiMetricMapPDF, mrpt::obs::CObservationRGBD360, mrpt::maps::TMapGenericParams, mrpt::hmtslam::CHMTSLAM, mrpt::obs::CObservationGPS, mrpt::maps::CLandmarksMap, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COctoMapVoxels, mrpt::poses::CPointPDFParticles, mrpt::opengl::COpenGLViewport, mrpt::obs::CObservationVelodyneScan, mrpt::vision::CFeature, mrpt::kinematics::CKinematicChain, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicVFF, mrpt::obs::CRawlog, mrpt::obs::CSensoryFrame, mrpt::nav::CHolonomicND, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicFullEval, mrpt::opengl::CPointCloud, mrpt::detectors::CDetectable2D, mrpt::opengl::COpenGLScene, mrpt::pbmap::Plane, mrpt::poses::CPose2DInterpolator, mrpt::opengl::CFrustum, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::maps::CBeaconMap, mrpt::maps::CReflectivityGridMap2D, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::obs::CObservation2DRangeScan, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DQuat, mrpt::poses::CPose3DRotVec, mrpt::utils::CMHPropertiesValuesList, mrpt::hmtslam::CHMHMapNode, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::maps::CBeacon, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CMesh, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAngularObservationMesh, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPose2D, mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CRobotPosesGraph, mrpt::maps::COctoMap, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPointPDFSOG, mrpt::poses::CPosePDFGaussianInf, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::obs::CObservationImage, mrpt::opengl::CBox, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::hmtslam::CHierarchicalMHMap, mrpt::hmtslam::CHMHMapArc, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationBatteryState, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CSetOfLines, mrpt::maps::CLandmark, mrpt::maps::CColouredOctoMap, mrpt::maps::CSimplePointsMap, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CDisk, mrpt::opengl::CSphere, mrpt::poses::CPoint3D, mrpt::poses::CPosePDFGaussian, mrpt::utils::CStringList, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationWindSensor, mrpt::opengl::CCamera, mrpt::opengl::CColorBar, mrpt::opengl::CPolyhedron, mrpt::slam::CIncrementalMapPartitioner, mrpt::obs::CActionCollection, mrpt::opengl::CSetOfObjects, mrpt::math::CMatrix, mrpt::math::CMatrixD, mrpt::poses::CPosePDFGrid, mrpt::utils::TCamera, mrpt::obs::CObservationRange, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservationSkeleton, mrpt::math::CSplineInterpolator1D, mrpt::utils::CSimpleDatabaseTable, mrpt::nav::CLogFileRecord_VFF, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationWirelessPower, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationRFID, mrpt::opengl::CCylinder, mrpt::opengl::CSetOfTriangles, mrpt::poses::TSimple3DPoint, mrpt::utils::CMemoryChunk, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationReflectivity, mrpt::opengl::C3DSScene, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CMatrixB, mrpt::poses::CPointPDFGaussian, mrpt::utils::CPropertiesValuesList, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::math::CPolygon, mrpt::utils::CTypeSelector, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::TStereoCamera, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, and mrpt::opengl::COpenGLStandardObject.

Referenced by mrpt::utils::CStream::WriteObject().

Friends And Related Function Documentation

friend class mrpt::utils::CStream
friend

Definition at line 37 of file CPoint2DPDF.h.

Member Data Documentation

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 128 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::poses::CPoint2DPDF::classCPoint2DPDF
static

Definition at line 37 of file CPoint2DPDF.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

const size_t mrpt::utils::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::state_length
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.

Referenced by mrpt::poses::CPoint2DPDFGaussian::productIntegralWith().




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