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CPoint2DPDF.h
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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 #pragma once
10 
12 #include <mrpt/poses/CPoint2D.h>
13 
14 namespace mrpt
15 {
16 namespace poses
17 {
18 /** Declares a class that represents a Probability Distribution function (PDF)
19  * of a 2D point (x,y).
20  * This class is just the base class for unifying many diferent
21  * ways this PDF can be implemented.
22  *
23  * For convenience, a pose composition is also defined for any
24  * PDF derived class, changeCoordinatesReference, in the form of a method
25  * rather than an operator.
26  *
27  * For a similar class for 6D poses (a 3D point with attitude), see CPose3DPDF
28  *
29  * See also the tutorial on <a
30  * href="http://www.mrpt.org/Probability_Density_Distributions_Over_Spatial_Representations"
31  * >probabilistic spatial representations in the MRPT</a>.
32  * \ingroup poses_pdf_grp
33  * \sa CPoint2D, CPointPDF
34  */
36  public mrpt::math::CProbabilityDensityFunction<CPoint2D, 2>
37 {
39 
40  public:
41  /** Copy operator, translating if necesary (for example, between particles
42  * and gaussian representations)
43  */
44  virtual void copyFrom(const CPoint2DPDF& o) = 0;
45 
46  virtual void changeCoordinatesReference(
47  const CPose3D& newReferenceBase) = 0;
48 
49  /** Bayesian fusion of two point distributions (product of two
50  * distributions->new distribution), then save the result in this object
51  * (WARNING: See implementing classes to see classes that can and cannot be
52  * mixtured!)
53  * \param p1 The first distribution to fuse
54  * \param p2 The second distribution to fuse
55  * \param minMahalanobisDistToDrop If set to different of 0, the result of
56  * very separate Gaussian modes (that will result in negligible components)
57  * in SOGs will be dropped to reduce the number of modes in the output.
58  */
59  virtual void bayesianFusion(
60  const CPoint2DPDF& p1, const CPoint2DPDF& p2,
61  const double minMahalanobisDistToDrop = 0) = 0;
62 
63  enum
64  {
66  };
67  static inline bool is_3D() { return is_3D_val != 0; }
68  enum
69  {
71  };
72  static inline bool is_PDF() { return is_PDF_val != 0; }
73 }; // End of class def.
74 
75 } // End of namespace
76 } // End of namespace
static bool is_PDF()
Definition: CPoint2DPDF.h:72
#define DEFINE_VIRTUAL_SERIALIZABLE(class_name)
This declaration must be inserted in virtual CSerializable classes definition:
virtual void changeCoordinatesReference(const CPose3D &newReferenceBase)=0
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!)
Declares a class that represents a Probability Distribution function (PDF) of a 2D point (x...
Definition: CPoint2DPDF.h:35
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:88
The virtual base class which provides a unified interface for all persistent objects in MRPT...
Definition: CSerializable.h:32
A generic template for probability density distributions (PDFs).
virtual void copyFrom(const CPoint2DPDF &o)=0
Copy operator, translating if necesary (for example, between particles and gaussian representations) ...



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