MRPT  1.9.9
CEllipsoidRangeBearing2D.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
12 
13 namespace mrpt::opengl
14 {
15 /** An especial "ellipsoid" in 2D computed as the uncertainty iso-surfaces of a
16  * (range,bearing) variable.
17  * The parameter space of this ellipsoid comprises these variables (in this
18  * order):
19  * - range: Distance from sensor to feature.
20  * - bearing: Angle from +X to the line that goes from the sensor towards the
21  * feature.
22  *
23  * This class expects you to provide a mean vector of length 2 and a 2x2
24  * covariance matrix, set with \a setCovMatrixAndMean().
25  *
26  * Please read the documentation of
27  * CGeneralizedEllipsoidTemplate::setQuantiles() for learning
28  * the mathematical details about setting the desired confidence interval.
29  *
30  * <div align="center">
31  * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
32  * border-style: solid;">
33  * <tr> <td> mrpt::opengl::CEllipsoidRangeBearing2D </td> <td> \image html
34  * preview_CEllipsoidRangeBearing2D.png </td> </tr>
35  * </table>
36  * </div>
37  *
38  * \ingroup mrpt_opengl_grp
39  */
41 {
44  protected:
45  /** To be implemented by derived classes: maps, using some arbitrary space
46  * transformation, a list of points
47  * defining an ellipsoid in parameter space into their corresponding
48  * points in 2D/3D space.
49  */
51  const std::vector<BASE::array_parameter_t>& in_pts,
52  std::vector<BASE::array_point_t>& out_pts) const override;
53  /** Constructor
54  */
55  public:
56  CEllipsoidRangeBearing2D() = default;
57  /** Private, virtual destructor: only can be deleted from smart pointers */
58  ~CEllipsoidRangeBearing2D() override = default;
59 };
60 
61 } // namespace mrpt::opengl
~CEllipsoidRangeBearing2D() override=default
Private, virtual destructor: only can be deleted from smart pointers.
CEllipsoidRangeBearing2D()=default
Constructor.
A class that generalizes the concept of an ellipsoid to arbitrary parameterizations of uncertainty sh...
void transformFromParameterSpace(const std::vector< BASE::array_parameter_t > &in_pts, std::vector< BASE::array_point_t > &out_pts) const override
To be implemented by derived classes: maps, using some arbitrary space transformation, a list of points defining an ellipsoid in parameter space into their corresponding points in 2D/3D space.
The namespace for 3D scene representation and rendering.
Definition: CGlCanvasBase.h:15
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
An especial "ellipsoid" in 2D computed as the uncertainty iso-surfaces of a (range,bearing) variable.



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