MRPT  2.0.4
CPose3DQuatPDF.h
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2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, 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 
11 #include <mrpt/math/CMatrixD.h>
13 #include <mrpt/poses/CPose3D.h>
14 #include <mrpt/poses/CPose3DQuat.h>
15 
16 namespace mrpt::poses
17 {
18 class CPosePDF;
19 class CPose3DPDF;
20 
21 /** Declares a class that represents a Probability Density Function (PDF) of a
22  * 3D pose (6D actually), by means of a 7-vector with a translation [x y z] and
23  * a quaternion [qr qx qy qz].
24  * This class is just the base class for unifying many diferent ways this PDF
25  * can be implemented.
26  *
27  * For convenience, a pose composition is also defined for any
28  * PDF derived class, changeCoordinatesReference, in the form of a method
29  * rather than an operator.
30  *
31  * - For a similar class for 3D points (without attitude), see CPointPDF.
32  * - For a similar class for 3D poses (with Euler angles instead of
33  * quaternions), see CPose3DPDF.
34  *
35  *
36  * See also the tutorial on <a
37  * href="http://www.mrpt.org/Probability_Density_Distributions_Over_Spatial_Representations"
38  * >probabilistic spatial representations in the MRPT</a>.
39  *
40  * \sa CPose3DQuatPDF, CPose3DPDF
41  * \ingroup poses_pdf_grp
42  */
45  public mrpt::math::CProbabilityDensityFunction<CPose3DQuat, 7>
46 {
48 
49  public:
50  /** Copy operator, translating if necesary (for example, between particles
51  * and gaussian representations)
52  * \sa createFrom2D
53  */
54  virtual void copyFrom(const CPose3DQuatPDF& o) = 0;
55 
56  /** This is a static transformation method from 2D poses to 3D PDFs,
57  * preserving the representation type (particles->particles,
58  * Gaussians->Gaussians,etc)
59  * It returns a new object of any of the derived classes of
60  * CPose3DQuatPDF. This object must be deleted by the user when not required
61  * anymore.
62  * \sa copyFrom
63  */
64  static CPose3DQuatPDF* createFrom2D(const CPosePDF& o);
65 
66  /** Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF */
67  virtual void inverse(CPose3DQuatPDF& o) const = 0;
68 
69  virtual void changeCoordinatesReference(
70  const CPose3D& newReferenceBase) = 0;
71 
72  /** This static method computes the two Jacobians of a pose composition
73  * operation $f(x,u)= x \oplus u$
74  * \param out_x_oplus_u If set to !=nullptr, the result of "x+u" will be
75  * stored here (it will be computed internally anyway).
76  * To see the mathematical derivation of the formulas, refer to the
77  * technical report here:
78  * -
79  * https://www.mrpt.org/Probability_Density_Distributions_Over_Spatial_Representations
80  */
81  static void jacobiansPoseComposition(
82  const CPose3DQuat& x, const CPose3DQuat& u,
84  CPose3DQuat* out_x_oplus_u = nullptr);
85 
86  /** Returns a 3D representation of this PDF (it doesn't clear the current
87  * contents of out_obj, but append new OpenGL objects to that list)
88  * \note Needs the mrpt-opengl library, and using
89  * mrpt::opengl::CSetOfObjects::Ptr as template argument.
90  * \note By default, ellipsoids for the confidence intervals of "q=3" are
91  * drawn; for more mathematical details, see
92  * CGeneralizedEllipsoidTemplate::setQuantiles()
93  */
94  template <class OPENGL_SETOFOBJECTSPTR>
95  inline void getAs3DObject(OPENGL_SETOFOBJECTSPTR& out_obj) const
96  {
97  using SETOFOBJECTS = typename OPENGL_SETOFOBJECTSPTR::value_type;
98  out_obj->insertCollection(*SETOFOBJECTS::posePDF2opengl(*this));
99  }
100 
101  /** Returns a 3D representation of this PDF.
102  * \note Needs the mrpt-opengl library, and using
103  * mrpt::opengl::CSetOfObjects::Ptr as template argument.
104  */
105  template <class OPENGL_SETOFOBJECTSPTR>
106  inline OPENGL_SETOFOBJECTSPTR getAs3DObject() const
107  {
108  using SETOFOBJECTS = typename OPENGL_SETOFOBJECTSPTR::value_type;
109  return SETOFOBJECTS::posePDF2opengl(*this);
110  }
111 
112 }; // End of class def.
113 } // namespace mrpt::poses
A compile-time fixed-size numeric matrix container.
Definition: CMatrixFixed.h:33
void getAs3DObject(OPENGL_SETOFOBJECTSPTR &out_obj) const
Returns a 3D representation of this PDF (it doesn&#39;t clear the current contents of out_obj...
virtual void copyFrom(const CPose3DQuatPDF &o)=0
Copy operator, translating if necesary (for example, between particles and gaussian representations) ...
#define DEFINE_VIRTUAL_SERIALIZABLE(class_name)
This declaration must be inserted in virtual CSerializable classes definition:
virtual void changeCoordinatesReference(const CPose3D &newReferenceBase)=0
A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz).
Definition: CPose3DQuat.h:45
Declares a class that represents a probability density function (pdf) of a 2D pose (x...
Definition: CPosePDF.h:38
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
OPENGL_SETOFOBJECTSPTR getAs3DObject() const
Returns a 3D representation of this PDF.
CSetOfObjects::Ptr posePDF2opengl(const POSE_PDF &o)
Returns a representation of a the PDF - this is just an auxiliary function, it&#39;s more natural to call...
Definition: pose_pdfs.h:21
Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:85
The virtual base class which provides a unified interface for all persistent objects in MRPT...
Definition: CSerializable.h:30
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 $f(x,u)= x u$.
virtual void inverse(CPose3DQuatPDF &o) const =0
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
A generic template for probability density distributions (PDFs).
static CPose3DQuatPDF * createFrom2D(const CPosePDF &o)
This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (...



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