mrpt::poses::SE_average< 3 > Class Template Reference

Detailed Description

template<>
class mrpt::poses::SE_average< 3 >

Computes weighted and un-weighted averages of SE(3) poses.

Add values to average with append(), when done call get_average(). Use clear() to reset the accumulator and start a new average computation. Theoretical base: See SO_average<3> for the rotation part. The translation is a simple arithmetic mean in Euclidean space.

Note

Class introduced in MRPT 1.3.1

See also

SE_traits

Definition at line 158 of file SO_SE_average.h.

#include <mrpt/poses/SO_SE_average.h>

Public Member Functions
	SE_average ()
	Constructor. More...
void	clear ()
	Resets the accumulator. More...
void	append (const mrpt::poses::CPose3D &p)
	Adds a new pose to the computation. More...
void	append (const mrpt::poses::CPose3D &p, const double weight)
	Adds a new pose to the weighted-average computation. More...
void	append (const mrpt::math::TPose3D &p, const double weight)
void	get_average (mrpt::poses::CPose3D &out_mean) const
	Returns the average pose. More...

Public Attributes
bool	enable_exception_on_undeterminate
	(Default=false) Set to true if you want to raise an exception on undetermined average values. More...

Private Attributes
double	m_count
double	m_accum_x
double	m_accum_y
double	m_accum_z
SO_average< 3 >	m_rot_part

Constructor & Destructor Documentation

SE_average()

mrpt::poses::SE_average< 3 >::SE_average

(

)

Constructor.

Member Function Documentation

append() [1/3]

void mrpt::poses::SE_average< 3 >::append

(

const mrpt::poses::CPose3D &

p

)

Adds a new pose to the computation.

See also

get_average

Referenced by mrpt::poses::CPose3DPDFParticles::getMean(), and mrpt::poses::CPose3DPDFSOG::getMean().

append() [2/3]

void mrpt::poses::SE_average< 3 >::append	(	const mrpt::poses::CPose3D &	p,
		const double	weight
	)

Adds a new pose to the weighted-average computation.

See also

get_average

append() [3/3]

void mrpt::poses::SE_average< 3 >::append	(	const mrpt::math::TPose3D &	p,
		const double	weight
	)

clear()

void mrpt::poses::SE_average< 3 >::clear

(

)

Resets the accumulator.

get_average()

void mrpt::poses::SE_average< 3 >::get_average

(

mrpt::poses::CPose3D &

out_mean

)

const

Returns the average pose.

Exceptions

std::logic_error	If no data point were inserted.
std::runtime_error	Upon undeterminate average value (ie the average lays exactly on the origin point) and enable_exception_on_undeterminate is set to true (otherwise, the 0 orientation would be returned)

See also

append

Referenced by mrpt::poses::CPose3DPDFParticles::getMean(), and mrpt::poses::CPose3DPDFSOG::getMean().

Member Data Documentation

enable_exception_on_undeterminate

bool mrpt::poses::SE_average< 3 >::enable_exception_on_undeterminate

(Default=false) Set to true if you want to raise an exception on undetermined average values.

Definition at line 180 of file SO_SE_average.h.

m_accum_x

double mrpt::poses::SE_average< 3 >::m_accum_x

private

Definition at line 184 of file SO_SE_average.h.

m_accum_y

double mrpt::poses::SE_average< 3 >::m_accum_y

private

Definition at line 184 of file SO_SE_average.h.

m_accum_z

double mrpt::poses::SE_average< 3 >::m_accum_z

private

Definition at line 184 of file SO_SE_average.h.

m_count

double mrpt::poses::SE_average< 3 >::m_count

private

Definition at line 183 of file SO_SE_average.h.

m_rot_part

SO_average<3> mrpt::poses::SE_average< 3 >::m_rot_part

private

Definition at line 185 of file SO_SE_average.h.