class mrpt::poses::CPointPDF

Overview

Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x,y,z).

This class is just the base class for unifying many different 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: probabilistic spatial representations

See also:

CPoint3D

#include <mrpt/poses/CPointPDF.h>

class CPointPDF:
    public mrpt::serialization::CSerializable,
    public mrpt::math::CProbabilityDensityFunction
{
public:
    // methods

    virtual void copyFrom(const CPointPDF& o) = 0;
    virtual void changeCoordinatesReference(const CPose3D& newReferenceBase) = 0;
};

// direct descendants

class CBeacon;
class CPointPDFGaussian;
class CPointPDFParticles;
class CPointPDFSOG;

Inherited Members

public:
    // typedefs

    typedef CProbabilityDensityFunction<TDATA, STATE_LEN> self_t;

Methods

virtual void copyFrom(const CPointPDF& o) = 0

Copy operator, translating if necessary (for example, between particles and gaussian representations)