Main MRPT website > C++ reference for MRPT 1.5.7
Namespaces | Classes | Typedefs | Enumerations | Functions | Variables

Detailed Description

Classes for 2D/3D geometry representation, both of single values and probability density distributions (PDFs) in many forms.

Namespaces

 detail
 Internal, auxiliary templates for MRPT classes.
 

Classes

class  CPoint
 A base class for representing a point in 2D or 3D. More...
 
class  CPoint2D
 A class used to store a 2D point. More...
 
class  CPoint2DPDF
 Declares a class that represents a Probability Distribution function (PDF) of a 2D point (x,y). More...
 
class  CPoint2DPDFGaussian
 A gaussian distribution for 2D points. More...
 
class  CPoint3D
 A class used to store a 3D point. More...
 
class  CPointPDF
 Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x,y,z). More...
 
class  CPointPDFGaussian
 A gaussian distribution for 3D points. More...
 
class  CPointPDFParticles
 A probability distribution of a 2D/3D point, represented as a set of random samples (particles). More...
 
class  CPointPDFSOG
 Declares a class that represents a Probability Density function (PDF) of a 3D point $ p(\mathbf{x}) = [x ~ y ~ z ]^t $. More...
 
class  CPose
 A base class for representing a pose in 2D or 3D. More...
 
class  CPose2D
 A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle. More...
 
class  CPose2DGridTemplate
 This is a template class for storing a 3D (2D+heading) grid containing any kind of data. More...
 
class  CPose2DInterpolator
 This class stores a time-stamped trajectory in SE(2) (mrpt::math::TPose2D poses). More...
 
class  CPose3D
 A class used to store a 3D pose (a 3D translation + a rotation in 3D). More...
 
class  CPose3DInterpolator
 This class stores a time-stamped trajectory in SE(3) (CPose3D poses). More...
 
class  CPose3DPDF
 Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually). More...
 
class  CPose3DPDFGaussian
 Declares a class that represents a Probability Density function (PDF) of a 3D pose $ p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t $. More...
 
class  CPose3DPDFGaussianInf
 Declares a class that represents a Probability Density function (PDF) of a 3D pose $ p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t $ as a Gaussian described by its mean and its inverse covariance matrix. More...
 
class  CPose3DPDFParticles
 Declares a class that represents a Probability Density function (PDF) of a 3D pose. More...
 
class  CPose3DPDFSOG
 Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose $ p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t $. More...
 
class  CPose3DQuat
 A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz). More...
 
class  CPose3DQuatPDF
 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]. More...
 
class  CPose3DQuatPDFGaussian
 Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion $ p(\mathbf{x}) = [x ~ y ~ z ~ qr ~ qx ~ qy ~ qz]^\top $. More...
 
class  CPose3DQuatPDFGaussianInf
 Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion $ p(\mathbf{x}) = [x ~ y ~ z ~ qr ~ qx ~ qy ~ qz]^\top $. More...
 
class  CPose3DRotVec
 A 3D pose, with a 3D translation and a rotation in 3D parameterized in rotation-vector form (equivalent to axis-angle). More...
 
class  CPoseInterpolatorBase
 Base class for SE(2)/SE(3) interpolators. More...
 
class  CPoseOrPoint
 The base template class for 2D & 3D points and poses. More...
 
class  CPosePDF
 Declares a class that represents a probability density function (pdf) of a 2D pose (x,y,phi). More...
 
class  CPosePDFGaussian
 Declares a class that represents a Probability Density function (PDF) of a 2D pose $ p(\mathbf{x}) = [x ~ y ~ \phi ]^t $. More...
 
class  CPosePDFGaussianInf
 A Probability Density function (PDF) of a 2D pose $ p(\mathbf{x}) = [x ~ y ~ \phi ]^t $ as a Gaussian with a mean and the inverse of the covariance. More...
 
class  CPosePDFGrid
 Declares a class that represents a Probability Distribution function (PDF) of a 2D pose (x,y,phi). More...
 
class  CPosePDFParticles
 Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x,y,phi), using a set of weighted samples. More...
 
class  CPosePDFSOG
 Declares a class that represents a Probability Density function (PDF) of a 2D pose $ p(\mathbf{x}) = [x ~ y ~ \phi ]^t $. More...
 
class  CPoseRandomSampler
 An efficient generator of random samples drawn from a given 2D (CPosePDF) or 3D (CPose3DPDF) pose probability density function (pdf). More...
 
class  CPoses2DSequence
 This class stores a sequence of relative, incremental 2D poses. More...
 
class  CPoses3DSequence
 This class stores a sequence of relative, incremental 3D poses. More...
 
class  CRobot2DPoseEstimator
 A simple filter to estimate and extrapolate the robot 2D (x,y,phi) pose from asynchronous odometry and localization/SLAM data. More...
 
class  FrameTransformer
 See docs in FrameTransformerInterface. More...
 
class  FrameTransformerInterface
 Virtual base class for interfaces to a ROS tf2-like service capable of "publishing" and "looking-up" relative poses between two "coordinate frames". More...
 
class  SE_average< 2 >
 Computes weighted and un-weighted averages of SE(2) poses. More...
 
class  SE_average< 3 >
 Computes weighted and un-weighted averages of SE(3) poses. More...
 
struct  SE_traits< 2 >
 Specialization of SE for 2D poses. More...
 
struct  SE_traits< 3 >
 Specialization of SE for 3D poses. More...
 
class  SO_average< 2 >
 Computes weighted and un-weighted averages of SO(2) orientations. More...
 
class  SO_average< 3 >
 Computes weighted and un-weighted averages of SO(3) orientations. More...
 
class  TSimple3DPoint
 Data within each particle. More...
 

Typedefs

typedef mrpt::aligned_containers< CPose2D >::vector_t StdVector_CPose2D
 Eigen aligment-compatible container. More...
 
typedef mrpt::aligned_containers< CPose2D >::deque_t StdDeque_CPose2D
 Eigen aligment-compatible container. More...
 

Enumerations

enum  TInterpolatorMethod {
  imSpline = 0, imLinear2Neig, imLinear4Neig, imSSLLLL,
  imSSLSLL, imLinearSlerp, imSplineSlerp
}
 Type to select the interpolation method in CPoseInterpolatorBase derived classes. More...
 
enum  TConstructorFlags_Poses { UNINITIALIZED_POSE = 0 }
 
enum  FrameLookUpStatus { LKUP_GOOD = 0, LKUP_UNKNOWN_FRAME, LKUP_NO_CONNECTIVITY, LKUP_EXTRAPOLATION_ERROR }
 

Functions

template<class DERIVEDCLASS >
std::ostream & operator<< (std::ostream &o, const CPoint< DERIVEDCLASS > &p)
 Dumps a point as a string [x,y] or [x,y,z]. More...
 
template<class DERIVEDCLASS >
bool operator< (const CPoint< DERIVEDCLASS > &a, const CPoint< DERIVEDCLASS > &b)
 Used by STL algorithms. More...
 
template<class DERIVEDCLASS >
bool operator== (const CPoint< DERIVEDCLASS > &p1, const CPoint< DERIVEDCLASS > &p2)
 
template<class DERIVEDCLASS >
bool operator!= (const CPoint< DERIVEDCLASS > &p1, const CPoint< DERIVEDCLASS > &p2)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPoint2DPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPoint2DPDFPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPoint2DPDFGaussianPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPoint3DPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPointPDFPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPointPDFGaussianPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, TSimple3DPointPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPointPDFParticlesPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPointPDFSOGPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPose2DPtr &pObj)
 
std::ostream BASE_IMPEXPoperator<< (std::ostream &o, const CPose2D &p)
 Textual output stream function. More...
 
CPose2D BASE_IMPEXP operator- (const CPose2D &p)
 Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y phi) More...
 
mrpt::math::TPoint2D BASE_IMPEXP operator+ (const CPose2D &pose, const mrpt::math::TPoint2D &pnt)
 Compose a 2D point from a new coordinate base given by a 2D pose. More...
 
bool BASE_IMPEXP operator== (const CPose2D &p1, const CPose2D &p2)
 
bool BASE_IMPEXP operator!= (const CPose2D &p1, const CPose2D &p2)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPose2DInterpolatorPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPose3DPtr &pObj)
 
std::ostream BASE_IMPEXPoperator<< (std::ostream &o, const CPose3D &p)
 Textual output stream function. More...
 
CPose3D BASE_IMPEXP operator- (const CPose3D &p)
 Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y z yaw pitch roll) More...
 
bool BASE_IMPEXP operator== (const CPose3D &p1, const CPose3D &p2)
 
bool BASE_IMPEXP operator!= (const CPose3D &p1, const CPose3D &p2)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPose3DInterpolatorPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPose3DPDFPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPose3DPDFGaussianPtr &pObj)
 
CPose3DPDFGaussian operator+ (const CPose3DPDFGaussian &x, const CPose3DPDFGaussian &u)
 Pose composition for two 3D pose Gaussians. More...
 
CPose3DPDFGaussian operator- (const CPose3DPDFGaussian &x, const CPose3DPDFGaussian &u)
 Pose composition for two 3D pose Gaussians. More...
 
std::ostream BASE_IMPEXPoperator<< (std::ostream &out, const CPose3DPDFGaussian &obj)
 Dumps the mean and covariance matrix to a text stream. More...
 
bool BASE_IMPEXP operator== (const CPose3DPDFGaussian &p1, const CPose3DPDFGaussian &p2)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPose3DPDFGaussianInfPtr &pObj)
 
 DEFINE_SERIALIZABLE_POST_CUSTOM_BASE (CPose3DPDFGaussianInf, CPose3DPDF)
 
bool BASE_IMPEXP operator== (const CPose3DPDFGaussianInf &p1, const CPose3DPDFGaussianInf &p2)
 
CPose3DPDFGaussianInf BASE_IMPEXP operator+ (const CPose3DPDFGaussianInf &x, const CPose3DPDFGaussianInf &u)
 Pose composition for two 3D pose Gaussians. More...
 
CPose3DPDFGaussianInf BASE_IMPEXP operator- (const CPose3DPDFGaussianInf &x, const CPose3DPDFGaussianInf &u)
 Pose composition for two 3D pose Gaussians. More...
 
std::ostream BASE_IMPEXPoperator<< (std::ostream &out, const CPose3DPDFGaussianInf &obj)
 Dumps the mean and covariance matrix to a text stream. More...
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPose3DPDFParticlesPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPose3DPDFSOGPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPose3DQuatPtr &pObj)
 
std::ostream BASE_IMPEXPoperator<< (std::ostream &o, const CPose3DQuat &p)
 Textual output stream function. More...
 
CPose3DQuat BASE_IMPEXP operator- (const CPose3DQuat &p)
 Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with all its arguments multiplied by "-1") More...
 
CPoint3D BASE_IMPEXP operator- (const CPoint3D &G, const CPose3DQuat &p)
 Computes the 3D point L such as $ L = G \ominus this $. More...
 
mrpt::math::TPoint3D BASE_IMPEXP operator- (const mrpt::math::TPoint3D &G, const CPose3DQuat &p)
 Computes the 3D point L such as $ L = G \ominus this $. More...
 
bool BASE_IMPEXP operator== (const CPose3DQuat &p1, const CPose3DQuat &p2)
 
bool BASE_IMPEXP operator!= (const CPose3DQuat &p1, const CPose3DQuat &p2)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPose3DQuatPDFPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPose3DQuatPDFGaussianPtr &pObj)
 
bool BASE_IMPEXP operator== (const CPose3DQuatPDFGaussian &p1, const CPose3DQuatPDFGaussian &p2)
 
CPose3DQuatPDFGaussian BASE_IMPEXP operator+ (const CPose3DQuatPDFGaussian &x, const CPose3DQuatPDFGaussian &u)
 Pose composition for two 3D pose Gaussians. More...
 
CPose3DQuatPDFGaussian BASE_IMPEXP operator- (const CPose3DQuatPDFGaussian &x, const CPose3DQuatPDFGaussian &u)
 Inverse pose composition for two 3D pose Gaussians. More...
 
std::ostream BASE_IMPEXPoperator<< (std::ostream &out, const CPose3DQuatPDFGaussian &obj)
 Dumps the mean and covariance matrix to a text stream. More...
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPose3DQuatPDFGaussianInfPtr &pObj)
 
bool BASE_IMPEXP operator== (const CPose3DQuatPDFGaussianInf &p1, const CPose3DQuatPDFGaussianInf &p2)
 
CPose3DQuatPDFGaussianInf BASE_IMPEXP operator+ (const CPose3DQuatPDFGaussianInf &x, const CPose3DQuatPDFGaussianInf &u)
 Pose composition for two 3D pose Gaussians. More...
 
CPose3DQuatPDFGaussianInf BASE_IMPEXP operator- (const CPose3DQuatPDFGaussianInf &x, const CPose3DQuatPDFGaussianInf &u)
 Inverse pose composition for two 3D pose Gaussians. More...
 
std::ostream BASE_IMPEXPoperator<< (std::ostream &out, const CPose3DQuatPDFGaussianInf &obj)
 Dumps the mean and covariance matrix to a text stream. More...
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPose3DRotVecPtr &pObj)
 
std::ostream BASE_IMPEXPoperator<< (std::ostream &o, const CPose3DRotVec &p)
 Textual output stream function. More...
 
CPose3DRotVec BASE_IMPEXP operator- (const CPose3DRotVec &p)
 Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y z yaw pitch roll) More...
 
bool BASE_IMPEXP operator== (const CPose3DRotVec &p1, const CPose3DRotVec &p2)
 
bool BASE_IMPEXP operator!= (const CPose3DRotVec &p1, const CPose3DRotVec &p2)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPosePDFPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPosePDFGaussianPtr &pObj)
 
CPosePDFGaussian BASE_IMPEXP operator+ (const CPosePDFGaussian &a, const CPosePDFGaussian &b)
 Pose compose operator: RES = A (+) B , computing both the mean and the covariance. More...
 
CPosePDFGaussian BASE_IMPEXP operator- (const CPosePDFGaussian &a, const CPosePDFGaussian &b)
 Pose inverse compose operator: RES = A (-) B , computing both the mean and the covariance. More...
 
std::ostream BASE_IMPEXPoperator<< (std::ostream &out, const CPosePDFGaussian &obj)
 Dumps the mean and covariance matrix to a text stream. More...
 
poses::CPosePDFGaussian BASE_IMPEXP operator+ (const mrpt::poses::CPose2D &A, const mrpt::poses::CPosePDFGaussian &B)
 Returns the Gaussian distribution of $ \mathbf{C} $, for $ \mathbf{C} = \mathbf{A} \oplus \mathbf{B} $. More...
 
bool BASE_IMPEXP operator== (const CPosePDFGaussian &p1, const CPosePDFGaussian &p2)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPosePDFGaussianInfPtr &pObj)
 
 DEFINE_SERIALIZABLE_POST_CUSTOM_BASE (CPosePDFGaussianInf, CPosePDF)
 
bool BASE_IMPEXP operator== (const CPosePDFGaussianInf &p1, const CPosePDFGaussianInf &p2)
 
CPosePDFGaussianInf BASE_IMPEXP operator+ (const CPosePDFGaussianInf &a, const CPosePDFGaussianInf &b)
 Pose compose operator: RES = A (+) B , computing both the mean and the covariance. More...
 
CPosePDFGaussianInf BASE_IMPEXP operator- (const CPosePDFGaussianInf &a, const CPosePDFGaussianInf &b)
 Pose inverse compose operator: RES = A (-) B , computing both the mean and the covariance. More...
 
poses::CPosePDFGaussianInf BASE_IMPEXP operator+ (const mrpt::poses::CPose2D &A, const mrpt::poses::CPosePDFGaussianInf &B)
 Returns the Gaussian distribution of $ \mathbf{C} $, for $ \mathbf{C} = \mathbf{A} \oplus \mathbf{B} $. More...
 
std::ostream BASE_IMPEXPoperator<< (std::ostream &out, const CPosePDFGaussianInf &obj)
 Dumps the mean and covariance matrix to a text stream. More...
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPosePDFGridPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPosePDFParticlesPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPosePDFSOGPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPoses2DSequencePtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPoses3DSequencePtr &pObj)
 
template<class VEC3 , class MAT33 >
void deltaR (const MAT33 &R, VEC3 &v)
 
template<typename VEC3 , typename MAT3x3 , typename MAT3x9 >
void M3x9 (const VEC3 &a, const MAT3x3 &B, MAT3x9 &RES)
 
CMatrixDouble33 ddeltaRt_dR (const CPose3D &P)
 
void dVinvt_dR (const CPose3D &P, CMatrixFixedNumeric< double, 3, 9 > &J)
 

Variables

template<size_t DOF>
struct BASE_IMPEXP SE_traits
 A helper class for SE(2) and SE(3) geometry-related transformations, on-manifold optimization Jacobians, etc. More...
 
template<size_t DOF>
class BASE_IMPEXP SO_average
 Computes weighted and un-weighted averages of SO(2) or SO(3) orientations. More...
 
template<size_t DOF>
class BASE_IMPEXP SE_average
 Computes weighted and un-weighted averages of SE(2) or SE(3) poses. More...
 
template class BASE_IMPEXP CPoseInterpolatorBase< 2 >
 
template class BASE_IMPEXP CPoseInterpolatorBase< 3 >
 
template class BASE_IMPEXP FrameTransformerInterface< 2 >
 
template class BASE_IMPEXP FrameTransformerInterface< 3 >
 
template class BASE_IMPEXP FrameTransformer< 2 >
 
template class BASE_IMPEXP FrameTransformer< 3 >
 

Typedef Documentation

Eigen aligment-compatible container.

Definition at line 273 of file CPose2D.h.

Eigen aligment-compatible container.

Definition at line 272 of file CPose2D.h.

Enumeration Type Documentation

Enumerator
LKUP_GOOD 
LKUP_UNKNOWN_FRAME 
LKUP_NO_CONNECTIVITY 
LKUP_EXTRAPOLATION_ERROR 

Definition at line 22 of file FrameTransformer.h.

Enumerator
UNINITIALIZED_POSE 

Definition at line 33 of file CPoseOrPoint.h.

Function Documentation

CMatrixDouble33 mrpt::poses::ddeltaRt_dR ( const CPose3D P)
inline
mrpt::poses::DEFINE_SERIALIZABLE_POST_CUSTOM_BASE ( CPose3DPDFGaussianInf  ,
CPose3DPDF   
)
mrpt::poses::DEFINE_SERIALIZABLE_POST_CUSTOM_BASE ( CPosePDFGaussianInf  ,
CPosePDF   
)
template<class VEC3 , class MAT33 >
void mrpt::poses::deltaR ( const MAT33 &  R,
VEC3 &  v 
)
inline
void mrpt::poses::dVinvt_dR ( const CPose3D P,
CMatrixFixedNumeric< double, 3, 9 > &  J 
)
inline
template<typename VEC3 , typename MAT3x3 , typename MAT3x9 >
void mrpt::poses::M3x9 ( const VEC3 &  a,
const MAT3x3 &  B,
MAT3x9 &  RES 
)
inline

Definition at line 813 of file CPose3D.cpp.

References MRPT_ALIGN16.

Referenced by dVinvt_dR(), and mrpt::poses::CPose3D::ln_rot_jacob().

template<class DERIVEDCLASS >
bool mrpt::poses::operator!= ( const CPoint< DERIVEDCLASS > &  p1,
const CPoint< DERIVEDCLASS > &  p2 
)

Definition at line 138 of file CPoint.h.

References static_size.

Referenced by mrpt::poses::CPose2D::resize(), and mrpt::poses::CPose3DRotVec::resize().

bool mrpt::poses::operator!= ( const CPose2D p1,
const CPose2D p2 
)
bool mrpt::poses::operator!= ( const CPose3DRotVec p1,
const CPose3DRotVec p2 
)
bool mrpt::poses::operator!= ( const CPose3DQuat p1,
const CPose3DQuat p2 
)

Definition at line 459 of file CPose3DQuat.cpp.

bool mrpt::poses::operator!= ( const CPose3D p1,
const CPose3D p2 
)
CPose3DQuatPDFGaussianInf mrpt::poses::operator+ ( const CPose3DQuatPDFGaussianInf x,
const CPose3DQuatPDFGaussianInf u 
)

Pose composition for two 3D pose Gaussians.

See also
CPose3DQuatPDFGaussianInf::operator +=

Definition at line 352 of file CPose3DQuatPDFGaussianInf.cpp.

CPose3DQuatPDFGaussian mrpt::poses::operator+ ( const CPose3DQuatPDFGaussian x,
const CPose3DQuatPDFGaussian u 
)

Pose composition for two 3D pose Gaussians.

See also
CPose3DQuatPDFGaussian::operator +=

Definition at line 459 of file CPose3DQuatPDFGaussian.cpp.

CPose3DPDFGaussianInf mrpt::poses::operator+ ( const CPose3DPDFGaussianInf x,
const CPose3DPDFGaussianInf u 
)

Pose composition for two 3D pose Gaussians.

See also
CPose3DPDFGaussian::operator +=

Definition at line 436 of file CPose3DPDFGaussianInf.cpp.

CPosePDFGaussianInf mrpt::poses::operator+ ( const CPosePDFGaussianInf a,
const CPosePDFGaussianInf b 
)

Pose compose operator: RES = A (+) B , computing both the mean and the covariance.

Definition at line 530 of file CPosePDFGaussianInf.cpp.

Returns the Gaussian distribution of $ \mathbf{C} $, for $ \mathbf{C} = \mathbf{A} \oplus \mathbf{B} $.

Definition at line 432 of file CPosePDFGaussianInf.cpp.

References mrpt::poses::CPosePDFGaussianInf::changeCoordinatesReference().

CPosePDFGaussian mrpt::poses::operator+ ( const CPosePDFGaussian a,
const CPosePDFGaussian b 
)

Pose compose operator: RES = A (+) B , computing both the mean and the covariance.

Definition at line 578 of file CPosePDFGaussian.cpp.

poses::CPosePDFGaussian BASE_IMPEXP mrpt::poses::operator+ ( const mrpt::poses::CPose2D A,
const mrpt::poses::CPosePDFGaussian B 
)

Returns the Gaussian distribution of $ \mathbf{C} $, for $ \mathbf{C} = \mathbf{A} \oplus \mathbf{B} $.

Definition at line 421 of file CPosePDFGaussian.cpp.

References mrpt::poses::CPosePDFGaussian::changeCoordinatesReference().

CPose3DPDFGaussian mrpt::poses::operator+ ( const CPose3DPDFGaussian x,
const CPose3DPDFGaussian u 
)
inline

Pose composition for two 3D pose Gaussians.

See also
CPose3DPDFGaussian::operator +=

Definition at line 190 of file CPose3DPDFGaussian.h.

TPoint2D mrpt::poses::operator+ ( const CPose2D pose,
const mrpt::math::TPoint2D pnt 
)
CPose3DQuatPDFGaussianInf mrpt::poses::operator- ( const CPose3DQuatPDFGaussianInf x,
const CPose3DQuatPDFGaussianInf u 
)

Inverse pose composition for two 3D pose Gaussians.

See also
CPose3DQuatPDFGaussianInf::operator -=

Definition at line 360 of file CPose3DQuatPDFGaussianInf.cpp.

CPose3DQuatPDFGaussian mrpt::poses::operator- ( const CPose3DQuatPDFGaussian x,
const CPose3DQuatPDFGaussian u 
)

Inverse pose composition for two 3D pose Gaussians.

See also
CPose3DQuatPDFGaussian::operator -=

Definition at line 466 of file CPose3DQuatPDFGaussian.cpp.

CPose3DPDFGaussianInf mrpt::poses::operator- ( const CPose3DPDFGaussianInf x,
const CPose3DPDFGaussianInf u 
)

Pose composition for two 3D pose Gaussians.

See also
CPose3DPDFGaussianInf::operator -=

Definition at line 443 of file CPose3DPDFGaussianInf.cpp.

CPosePDFGaussianInf mrpt::poses::operator- ( const CPosePDFGaussianInf a,
const CPosePDFGaussianInf b 
)

Pose inverse compose operator: RES = A (-) B , computing both the mean and the covariance.

Definition at line 537 of file CPosePDFGaussianInf.cpp.

References mrpt::poses::CPosePDFGaussianInf::inverseComposition().

CPosePDFGaussian mrpt::poses::operator- ( const CPosePDFGaussian a,
const CPosePDFGaussian b 
)

Pose inverse compose operator: RES = A (-) B , computing both the mean and the covariance.

Definition at line 585 of file CPosePDFGaussian.cpp.

References mrpt::poses::CPosePDFGaussian::inverseComposition().

CPose3DPDFGaussian mrpt::poses::operator- ( const CPose3DPDFGaussian x,
const CPose3DPDFGaussian u 
)
inline

Pose composition for two 3D pose Gaussians.

See also
CPose3DPDFGaussian::operator -=

Definition at line 198 of file CPose3DPDFGaussian.h.

References BASE_IMPEXP, operator<<(), and operator==().

CPose2D mrpt::poses::operator- ( const CPose2D p)
CPose3DRotVec mrpt::poses::operator- ( const CPose3DRotVec p)

Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y z yaw pitch roll)

Definition at line 200 of file CPose3DRotVec.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getInverseHomogeneousMatrix(), and mrpt::math::UNINITIALIZED_MATRIX.

CPose3DQuat mrpt::poses::operator- ( const CPose3DQuat p)

Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with all its arguments multiplied by "-1")

Definition at line 424 of file CPose3DQuat.cpp.

References mrpt::poses::CPose3DQuat::inverse().

CPoint3D mrpt::poses::operator- ( const CPoint3D G,
const CPose3DQuat p 
)

Computes the 3D point L such as $ L = G \ominus this $.

See also
inverseComposePoint

Definition at line 464 of file CPose3DQuat.cpp.

References mrpt::poses::CPose3DQuat::inverseComposePoint().

mrpt::math::TPoint3D mrpt::poses::operator- ( const mrpt::math::TPoint3D G,
const CPose3DQuat p 
)

Computes the 3D point L such as $ L = G \ominus this $.

See also
inverseComposePoint

Definition at line 471 of file CPose3DQuat.cpp.

References mrpt::poses::CPose3DQuat::inverseComposePoint().

CPose3D mrpt::poses::operator- ( const CPose3D p)

Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y z yaw pitch roll)

Definition at line 546 of file CPose3D.cpp.

References mrpt::poses::CPose3D::CPose3D(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::getInverseHomogeneousMatrix(), and mrpt::math::UNINITIALIZED_MATRIX.

Referenced by mrpt::poses::CPose3D::resize().

template<class DERIVEDCLASS >
bool mrpt::poses::operator< ( const CPoint< DERIVEDCLASS > &  a,
const CPoint< DERIVEDCLASS > &  b 
)
template<class DERIVEDCLASS >
std::ostream& mrpt::poses::operator<< ( std::ostream &  o,
const CPoint< DERIVEDCLASS > &  p 
)
ostream & mrpt::poses::operator<< ( std::ostream &  out,
const CPose3DQuatPDFGaussianInf obj 
)

Dumps the mean and covariance matrix to a text stream.

Definition at line 337 of file CPose3DQuatPDFGaussianInf.cpp.

References mrpt::poses::CPose3DQuatPDFGaussianInf::cov_inv, and mrpt::poses::CPose3DQuatPDFGaussianInf::mean.

ostream & mrpt::poses::operator<< ( std::ostream &  out,
const CPose3DQuatPDFGaussian obj 
)

Dumps the mean and covariance matrix to a text stream.

Definition at line 444 of file CPose3DQuatPDFGaussian.cpp.

References mrpt::poses::CPose3DQuatPDFGaussian::cov, and mrpt::poses::CPose3DQuatPDFGaussian::mean.

ostream & mrpt::poses::operator<< ( std::ostream &  out,
const CPose3DPDFGaussianInf obj 
)

Dumps the mean and covariance matrix to a text stream.

Definition at line 401 of file CPose3DPDFGaussianInf.cpp.

References mrpt::poses::CPose3DPDFGaussianInf::cov_inv, and mrpt::poses::CPose3DPDFGaussianInf::mean.

std::ostream & mrpt::poses::operator<< ( std::ostream &  out,
const CPosePDFGaussianInf obj 
)

Dumps the mean and covariance matrix to a text stream.

Definition at line 419 of file CPosePDFGaussianInf.cpp.

References mrpt::poses::CPosePDFGaussianInf::cov_inv, and mrpt::poses::CPosePDFGaussianInf::mean.

std::ostream & mrpt::poses::operator<< ( std::ostream &  out,
const CPosePDFGaussian obj 
)

Dumps the mean and covariance matrix to a text stream.

Definition at line 408 of file CPosePDFGaussian.cpp.

References mrpt::poses::CPosePDFGaussian::cov, and mrpt::poses::CPosePDFGaussian::mean.

ostream & mrpt::poses::operator<< ( std::ostream &  out,
const CPose3DPDFGaussian obj 
)

Dumps the mean and covariance matrix to a text stream.

Definition at line 627 of file CPose3DPDFGaussian.cpp.

References mrpt::poses::CPose3DPDFGaussian::cov, and mrpt::poses::CPose3DPDFGaussian::mean.

std::ostream & mrpt::poses::operator<< ( std::ostream &  o,
const CPose2D p 
)
std::ostream & mrpt::poses::operator<< ( std::ostream &  o,
const CPose3DRotVec p 
)

Textual output stream function.

Definition at line 117 of file CPose3DRotVec.cpp.

References mrpt::poses::CPose3DRotVec::m_coords, and mrpt::poses::CPose3DRotVec::m_rotvec.

std::ostream & mrpt::poses::operator<< ( std::ostream &  o,
const CPose3DQuat p 
)

Textual output stream function.

Definition at line 405 of file CPose3DQuat.cpp.

References mrpt::poses::CPose3DQuat::m_coords, and mrpt::poses::CPose3DQuat::quat().

std::ostream & mrpt::poses::operator<< ( std::ostream &  o,
const CPose3D p 
)
bool mrpt::poses::operator== ( const CPose3DQuatPDFGaussianInf p1,
const CPose3DQuatPDFGaussianInf p2 
)
bool mrpt::poses::operator== ( const CPose3DQuatPDFGaussian p1,
const CPose3DQuatPDFGaussian p2 
)
template<class DERIVEDCLASS >
bool mrpt::poses::operator== ( const CPoint< DERIVEDCLASS > &  p1,
const CPoint< DERIVEDCLASS > &  p2 
)
bool mrpt::poses::operator== ( const CPose3DPDFGaussianInf p1,
const CPose3DPDFGaussianInf p2 
)
bool mrpt::poses::operator== ( const CPosePDFGaussianInf p1,
const CPosePDFGaussianInf p2 
)
bool mrpt::poses::operator== ( const CPosePDFGaussian p1,
const CPosePDFGaussian p2 
)
bool mrpt::poses::operator== ( const CPose3DPDFGaussian p1,
const CPose3DPDFGaussian p2 
)
bool mrpt::poses::operator== ( const CPose2D p1,
const CPose2D p2 
)
bool mrpt::poses::operator== ( const CPose3DRotVec p1,
const CPose3DRotVec p2 
)
bool mrpt::poses::operator== ( const CPose3DQuat p1,
const CPose3DQuat p2 
)
bool mrpt::poses::operator== ( const CPose3D p1,
const CPose3D p2 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPose2DInterpolatorPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPoint3DPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPose3DInterpolatorPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPoint2DPDFGaussianPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPointPDFGaussianPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPose2DPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPoint2DPDFPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPointPDFPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPoses2DSequencePtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPosePDFGridPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPoses3DSequencePtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPose3DRotVecPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPose3DPDFSOGPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPointPDFSOGPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPosePDFParticlesPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
TSimple3DPointPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPoint2DPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPose3DPDFParticlesPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPose3DQuatPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPose3DPDFPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPosePDFGaussianPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPose3DPDFGaussianPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPosePDFGaussianInfPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPosePDFSOGPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPose3DPDFGaussianInfPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPose3DQuatPDFPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPose3DQuatPDFGaussianPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPose3DQuatPDFGaussianInfPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPosePDFPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPose3DPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPointPDFParticlesPtr &  pObj 
)

Variable Documentation

Definition at line 137 of file CPose2DInterpolator.cpp.

Definition at line 170 of file CPose3DInterpolator.cpp.

Definition at line 94 of file FrameTransformer.cpp.

Definition at line 95 of file FrameTransformer.cpp.

Definition at line 33 of file FrameTransformer.cpp.

Definition at line 34 of file FrameTransformer.cpp.




Page generated by Doxygen 1.8.11 for MRPT 1.5.7 Git: 2190203 Tue May 15 02:01:15 2018 +0200 at miƩ may 16 12:40:16 CEST 2018