MRPT  1.9.9
List of all members | Public Types | Public Member Functions | Static Public Member Functions | Static Public Attributes
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 33 of file CPoint2DPDF.h.

#include <mrpt/poses/CPoint2DPDF.h>

Inheritance diagram for mrpt::poses::CPoint2DPDF:

Public Types

enum  { is_3D_val = 0 }
 
enum  { is_PDF_val = 1 }
 
using UniquePtr = std::unique_ptr< CObject >
 
using ConstUniquePtr = std::unique_ptr< const CObject >
 
using type_value = CPoint2D
 The type of the state the PDF represents. More...
 
using self_t = CProbabilityDensityFunction< CPoint2D, STATE_LEN >
 
using cov_mat_t = mrpt::math::CMatrixFixed< double, STATE_LEN, STATE_LEN >
 Covariance matrix type. More...
 
using inf_mat_t = cov_mat_t
 Information matrix type. More...
 

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 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!) 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 CObjectclone () const =0
 Returns a deep copy (clone) of the object, indepently of its class. More...
 
virtual void getMean (type_value &mean_point) const=0
 Returns the mean, or mathematical expectation of the probability density distribution (PDF). More...
 
virtual std::tuple< cov_mat_t, type_valuegetCovarianceAndMean () const=0
 Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...
 
virtual void getCovarianceAndMean (cov_mat_t &c, CPoint2D &mean) const final
 
void getCovarianceDynAndMean (mrpt::math::CMatrixDouble &cov, type_value &mean_point) const
 Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once. More...
 
type_value 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 (cov_mat_t &cov) const
 Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix) More...
 
cov_mat_t 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 (inf_mat_t &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 bool 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...
 
double getCovarianceEntropy () const
 Compute the entropy of the estimated covariance matrix. More...
 
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr duplicateGetSmartPtr () const
 Makes a deep copy of the object and returns a smart pointer to it. More...
 

Static Public Member Functions

static constexpr bool is_3D ()
 
static constexpr bool is_PDF ()
 

Static Public Attributes

static constexpr 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...
 

Protected Member Functions

CSerializable virtual methods
virtual uint8_t serializeGetVersion () const =0
 Must return the current versioning number of the object. More...
 
virtual void serializeTo (CArchive &out) const =0
 Pure virtual method for writing (serializing) to an abstract archive. More...
 
virtual void serializeTo (CSchemeArchiveBase &out) const
 Virtual method for writing (serializing) to an abstract schema based archive. More...
 
virtual void serializeFrom (CArchive &in, uint8_t serial_version)=0
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 
virtual void serializeFrom (CSchemeArchiveBase &in)
 Virtual method for reading (deserializing) from an abstract schema based archive. More...
 

RTTI stuff

using Ptr = std::shared_ptr< CPoint2DPDF >
 
using ConstPtr = std::shared_ptr< const CPoint2DPDF >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 

Member Typedef Documentation

◆ ConstPtr

Definition at line 36 of file CPoint2DPDF.h.

◆ ConstUniquePtr

using mrpt::rtti::CObject::ConstUniquePtr = std::unique_ptr<const CObject>
inherited

Definition at line 187 of file CObject.h.

◆ cov_mat_t

using mrpt::math::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::cov_mat_t = mrpt::math::CMatrixFixed<double, STATE_LEN, STATE_LEN>
inherited

Covariance matrix type.

Definition at line 37 of file CProbabilityDensityFunction.h.

◆ inf_mat_t

Information matrix type.

Definition at line 39 of file CProbabilityDensityFunction.h.

◆ Ptr

Definition at line 36 of file CPoint2DPDF.h.

◆ self_t

using mrpt::math::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::self_t = CProbabilityDensityFunction<CPoint2D , STATE_LEN>
inherited

Definition at line 35 of file CProbabilityDensityFunction.h.

◆ type_value

The type of the state the PDF represents.

Definition at line 34 of file CProbabilityDensityFunction.h.

◆ UniquePtr

using mrpt::rtti::CObject::UniquePtr = std::unique_ptr<CObject>
inherited

Definition at line 186 of file CObject.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
Enumerator
is_3D_val 

Definition at line 61 of file CPoint2DPDF.h.

◆ anonymous enum

anonymous enum
Enumerator
is_PDF_val 

Definition at line 66 of file CPoint2DPDF.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPoint2DPDF::_GetBaseClass ( )
staticprotected

◆ bayesianFusion()

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.

◆ changeCoordinatesReference()

virtual void mrpt::poses::CPoint2DPDF::changeCoordinatesReference ( const CPose3D newReferenceBase)
pure virtual

◆ clone()

virtual CObject* mrpt::rtti::CObject::clone ( ) const
pure virtualinherited

Returns a deep copy (clone) of the object, indepently of its class.

Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::img::CImage, mrpt::maps::CMultiMetricMap, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::obs::CObservationVelodyneScan, mrpt::maps::TMapGenericParams, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::kinematics::CKinematicChain, mrpt::obs::CObservationGPS, mrpt::opengl::COctoMapVoxels, mrpt::maps::CMultiMetricMapPDF, mrpt::maps::CHeightGridMap2D, mrpt::obs::CRawlog, mrpt::obs::CObservationRotatingScan, mrpt::opengl::COpenGLViewport, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::slam::CIncrementalMapPartitioner, mrpt::vision::CFeature, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservation2DRangeScan, mrpt::nav::CHolonomicND, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::opengl::CPointCloudColoured, mrpt::opengl::CPointCloud, mrpt::poses::CPose3DQuat, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::detectors::CDetectable2D, mrpt::maps::CBeaconMap, mrpt::opengl::CPolyhedron, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CText3D, mrpt::maps::COctoMap, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::poses::CPose2D, mrpt::maps::CReflectivityGridMap2D, mrpt::nav::CPTG_DiffDrive_C, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAssimpModel, mrpt::opengl::CBox, mrpt::poses::CPose3DPDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::obs::CObservationStereoImages, mrpt::opengl::CMeshFast, mrpt::poses::CPosePDFParticles, MyNS::Bar, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DPDFParticles, mrpt::hmtslam::CMHPropertiesValuesList, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::maps::CBeacon, mrpt::maps::COccupancyGridMap3D, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::opengl::CText, mrpt::maps::CRBPFParticleData, mrpt::maps::CLandmark, mrpt::maps::CHeightGridMap2D_MRF, mrpt::opengl::CColorBar, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::obs::CObservationPointCloud, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::opengl::CMesh3D, mrpt::opengl::CVectorField2D, mrpt::poses::CPoint3D, mrpt::poses::CPose3DPDFSOG, mrpt::obs::CObservationBatteryState, mrpt::opengl::CSetOfLines, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::CSimplePointsMap, mrpt::obs::CActionRobotMovement2D, mrpt::opengl::CDisk, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CAxis, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPointPDFParticles, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::poses::CPosePDFGaussian, MyNS::MyDerived2, mrpt::obs::CObservationRange, mrpt::maps::CPointsMapXYZI, mrpt::nav::CMultiObjMotionOpt_Scalarization, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfObjects, mrpt::img::TCamera, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::poses::CPose3DPDFGrid, mrpt::obs::CObservationVisualLandmarks, mrpt::math::CMatrixD, mrpt::math::CSplineInterpolator1D, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::poses::CPosePDFGrid, mrpt::poses::CPoses2DSequence, mrpt::img::TStereoCamera, mrpt::opengl::COpenGLStandardObject, mrpt::poses::CPoses3DSequence, mrpt::math::CMatrixF, mrpt::opengl::CSetOfTriangles, mrpt::poses::CPointPDFGaussian, mrpt::hmtslam::CPropertiesValuesList, mrpt::math::CMatrixB, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CSetOfTexturedTriangles, MyNS::MyDerived1, mrpt::math::CPolygon, mrpt::poses::CPoint2DPDFGaussian, MyNS::Foo, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, and MyNS::Foo.

Referenced by mrpt::rtti::CObject::duplicateGetSmartPtr(), mrpt::maps::CSimpleMap::insert(), mrpt::obs::CActionCollection::insert(), and mrpt::poses::CPoseRandomSampler::setPosePDF().

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◆ copyFrom()

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.

◆ drawManySamples()

virtual void mrpt::math::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 151 of file CProbabilityDensityFunction.h.

◆ drawSingleSample()

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

Draws a single sample from the distribution.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

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

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◆ getCovariance() [1/3]

void mrpt::math::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 88 of file CProbabilityDensityFunction.h.

◆ getCovariance() [2/3]

void mrpt::math::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::getCovariance ( cov_mat_t 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 98 of file CProbabilityDensityFunction.h.

◆ getCovariance() [3/3]

cov_mat_t mrpt::math::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 108 of file CProbabilityDensityFunction.h.

◆ getCovarianceAndMean() [1/2]

virtual std::tuple<cov_mat_t, type_value> mrpt::math::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::getCovarianceAndMean ( ) 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

Implemented in mrpt::poses::CPoint2DPDFGaussian.

◆ getCovarianceAndMean() [2/2]

virtual void mrpt::math::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::getCovarianceAndMean ( cov_mat_t c,
CPoint2D &  mean 
) const
inlinefinalvirtualinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 54 of file CProbabilityDensityFunction.h.

◆ getCovarianceDynAndMean()

void mrpt::math::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::getCovarianceDynAndMean ( mrpt::math::CMatrixDouble cov,
type_value 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 65 of file CProbabilityDensityFunction.h.

◆ getCovarianceEntropy()

double mrpt::math::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 167 of file CProbabilityDensityFunction.h.

◆ getInformationMatrix()

virtual void mrpt::math::CProbabilityDensityFunction< CPoint2D , STATE_LEN >::getInformationMatrix ( inf_mat_t 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 130 of file CProbabilityDensityFunction.h.

◆ getMean()

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

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

See also
getCovarianceAndMean, getInformationMatrix

◆ getMeanVal()

type_value mrpt::math::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 77 of file CProbabilityDensityFunction.h.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPoint2DPDF::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

Reimplemented in mrpt::poses::CPoint2DPDFGaussian.

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

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◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::poses::CPoint2DPDF::GetRuntimeClassIdStatic ( )
static

◆ is_3D()

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

Definition at line 65 of file CPoint2DPDF.h.

References is_3D_val.

◆ is_PDF()

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

Definition at line 70 of file CPoint2DPDF.h.

References is_PDF_val.

◆ isInfType()

virtual bool mrpt::math::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 123 of file CProbabilityDensityFunction.h.

◆ saveToTextFile()

virtual bool mrpt::math::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.

Returns
false on error

Implemented in mrpt::poses::CPoint2DPDFGaussian.

◆ serializeFrom() [1/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CArchive in,
uint8_t  serial_version 
)
protectedpure virtualinherited

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

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 I/O error

Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::img::CImage, mrpt::maps::CMultiMetricMap, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::obs::CObservationVelodyneScan, mrpt::maps::TMapGenericParams, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::kinematics::CKinematicChain, mrpt::obs::CObservationGPS, mrpt::opengl::COctoMapVoxels, mrpt::maps::CMultiMetricMapPDF, mrpt::maps::CHeightGridMap2D, mrpt::obs::CRawlog, mrpt::obs::CObservationRotatingScan, mrpt::opengl::COpenGLViewport, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::slam::CIncrementalMapPartitioner, mrpt::vision::CFeature, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservation2DRangeScan, mrpt::nav::CHolonomicND, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::opengl::CPointCloudColoured, mrpt::opengl::CPointCloud, mrpt::poses::CPose3DQuat, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::detectors::CDetectable2D, mrpt::maps::CBeaconMap, mrpt::opengl::CPolyhedron, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CText3D, mrpt::maps::COctoMap, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::poses::CPose2D, mrpt::maps::CReflectivityGridMap2D, mrpt::nav::CPTG_DiffDrive_C, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAssimpModel, mrpt::opengl::CBox, mrpt::poses::CPose3DPDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::obs::CObservationStereoImages, mrpt::opengl::CMeshFast, mrpt::poses::CPosePDFParticles, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DPDFParticles, mrpt::hmtslam::CMHPropertiesValuesList, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::maps::CBeacon, mrpt::maps::COccupancyGridMap3D, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::opengl::CText, mrpt::maps::CRBPFParticleData, mrpt::maps::CLandmark, mrpt::maps::CHeightGridMap2D_MRF, mrpt::opengl::CColorBar, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::obs::CObservationPointCloud, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::opengl::CMesh3D, mrpt::opengl::CVectorField2D, mrpt::poses::CPoint3D, mrpt::poses::CPose3DPDFSOG, mrpt::obs::CObservationBatteryState, mrpt::opengl::CSetOfLines, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::CSimplePointsMap, mrpt::obs::CActionRobotMovement2D, mrpt::opengl::CDisk, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CAxis, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPointPDFParticles, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::poses::CPosePDFGaussian, mrpt::obs::CObservationRange, mrpt::maps::CPointsMapXYZI, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfObjects, mrpt::img::TCamera, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::poses::CPose3DPDFGrid, mrpt::obs::CObservationVisualLandmarks, mrpt::math::CMatrixD, mrpt::math::CSplineInterpolator1D, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::poses::CPosePDFGrid, mrpt::poses::CPoses2DSequence, mrpt::img::TStereoCamera, mrpt::opengl::COpenGLStandardObject, mrpt::poses::CPoses3DSequence, mrpt::math::CMatrixF, mrpt::opengl::CSetOfTriangles, mrpt::poses::CPointPDFGaussian, mrpt::hmtslam::CPropertiesValuesList, mrpt::math::CMatrixB, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CPolygon, mrpt::poses::CPoint2DPDFGaussian, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, and MyNS::Foo.

◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase in)
inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

virtual uint8_t mrpt::serialization::CSerializable::serializeGetVersion ( ) const
protectedpure virtualinherited

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::img::CImage, mrpt::maps::CMultiMetricMap, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::obs::CObservationVelodyneScan, mrpt::maps::TMapGenericParams, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::kinematics::CKinematicChain, mrpt::obs::CObservationGPS, mrpt::opengl::COctoMapVoxels, mrpt::maps::CMultiMetricMapPDF, mrpt::maps::CHeightGridMap2D, mrpt::obs::CRawlog, mrpt::obs::CObservationRotatingScan, mrpt::opengl::COpenGLViewport, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::slam::CIncrementalMapPartitioner, mrpt::vision::CFeature, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservation2DRangeScan, mrpt::nav::CHolonomicND, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::opengl::CPointCloudColoured, mrpt::opengl::CPointCloud, mrpt::poses::CPose3DQuat, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::detectors::CDetectable2D, mrpt::maps::CBeaconMap, mrpt::opengl::CPolyhedron, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CText3D, mrpt::maps::COctoMap, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::poses::CPose2D, mrpt::maps::CReflectivityGridMap2D, mrpt::nav::CPTG_DiffDrive_C, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAssimpModel, mrpt::opengl::CBox, mrpt::poses::CPose3DPDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::obs::CObservationStereoImages, mrpt::opengl::CMeshFast, mrpt::poses::CPosePDFParticles, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DPDFParticles, mrpt::hmtslam::CMHPropertiesValuesList, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::maps::CBeacon, mrpt::maps::COccupancyGridMap3D, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::opengl::CText, mrpt::maps::CRBPFParticleData, mrpt::maps::CLandmark, mrpt::maps::CHeightGridMap2D_MRF, mrpt::opengl::CColorBar, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::obs::CObservationPointCloud, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::opengl::CMesh3D, mrpt::opengl::CVectorField2D, mrpt::poses::CPoint3D, mrpt::poses::CPose3DPDFSOG, mrpt::obs::CObservationBatteryState, mrpt::opengl::CSetOfLines, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::CSimplePointsMap, mrpt::obs::CActionRobotMovement2D, mrpt::opengl::CDisk, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CAxis, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPointPDFParticles, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::poses::CPosePDFGaussian, mrpt::obs::CObservationRange, mrpt::maps::CPointsMapXYZI, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfObjects, mrpt::img::TCamera, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::poses::CPose3DPDFGrid, mrpt::obs::CObservationVisualLandmarks, mrpt::math::CMatrixD, mrpt::math::CSplineInterpolator1D, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::poses::CPosePDFGrid, mrpt::poses::CPoses2DSequence, mrpt::img::TStereoCamera, mrpt::opengl::COpenGLStandardObject, mrpt::poses::CPoses3DSequence, mrpt::math::CMatrixF, mrpt::opengl::CSetOfTriangles, mrpt::poses::CPointPDFGaussian, mrpt::hmtslam::CPropertiesValuesList, mrpt::math::CMatrixB, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CPolygon, mrpt::poses::CPoint2DPDFGaussian, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, and MyNS::Foo.

Referenced by mrpt::serialization::CArchive::WriteObject().

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◆ serializeTo() [1/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CArchive out) const
protectedpure virtualinherited

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions
std::exceptionOn any I/O error

Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::img::CImage, mrpt::maps::CMultiMetricMap, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::obs::CObservationVelodyneScan, mrpt::maps::TMapGenericParams, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::kinematics::CKinematicChain, mrpt::obs::CObservationGPS, mrpt::opengl::COctoMapVoxels, mrpt::maps::CMultiMetricMapPDF, mrpt::maps::CHeightGridMap2D, mrpt::obs::CRawlog, mrpt::obs::CObservationRotatingScan, mrpt::opengl::COpenGLViewport, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::slam::CIncrementalMapPartitioner, mrpt::vision::CFeature, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservation2DRangeScan, mrpt::nav::CHolonomicND, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::opengl::CPointCloudColoured, mrpt::opengl::CPointCloud, mrpt::poses::CPose3DQuat, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::detectors::CDetectable2D, mrpt::maps::CBeaconMap, mrpt::opengl::CPolyhedron, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CText3D, mrpt::maps::COctoMap, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::poses::CPose2D, mrpt::maps::CReflectivityGridMap2D, mrpt::nav::CPTG_DiffDrive_C, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CAssimpModel, mrpt::opengl::CBox, mrpt::poses::CPose3DPDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::obs::CObservationStereoImages, mrpt::opengl::CMeshFast, mrpt::poses::CPosePDFParticles, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DPDFParticles, mrpt::hmtslam::CMHPropertiesValuesList, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::maps::CBeacon, mrpt::maps::COccupancyGridMap3D, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::opengl::CText, mrpt::maps::CRBPFParticleData, mrpt::maps::CLandmark, mrpt::maps::CHeightGridMap2D_MRF, mrpt::opengl::CColorBar, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::obs::CObservationPointCloud, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::opengl::CMesh3D, mrpt::opengl::CVectorField2D, mrpt::poses::CPoint3D, mrpt::poses::CPose3DPDFSOG, mrpt::obs::CObservationBatteryState, mrpt::opengl::CSetOfLines, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::CSimplePointsMap, mrpt::obs::CActionRobotMovement2D, mrpt::opengl::CDisk, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CAxis, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPointPDFParticles, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::poses::CPosePDFGaussian, mrpt::obs::CObservationRange, mrpt::maps::CPointsMapXYZI, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfObjects, mrpt::img::TCamera, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::poses::CPose3DPDFGrid, mrpt::obs::CObservationVisualLandmarks, mrpt::math::CMatrixD, mrpt::math::CSplineInterpolator1D, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::poses::CPosePDFGrid, mrpt::poses::CPoses2DSequence, mrpt::img::TStereoCamera, mrpt::opengl::COpenGLStandardObject, mrpt::poses::CPoses3DSequence, mrpt::math::CMatrixF, mrpt::opengl::CSetOfTriangles, mrpt::poses::CPointPDFGaussian, mrpt::hmtslam::CPropertiesValuesList, mrpt::math::CMatrixB, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CPolygon, mrpt::poses::CPoint2DPDFGaussian, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, and MyNS::Foo.

Referenced by mrpt::serialization::CArchive::WriteObject().

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◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase out) const
inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPoint2DPDF::runtimeClassId
staticprotected

Definition at line 36 of file CPoint2DPDF.h.

◆ state_length

constexpr size_t mrpt::math::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 32 of file CProbabilityDensityFunction.h.

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




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