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:
    // typedefs

    typedef std::shared_ptr<CPointPDF> Ptr;
    typedef std::shared_ptr<const CPointPDF> ConstPtr;

    // methods

    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    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 std::shared_ptr<CObject> Ptr;
    typedef std::shared_ptr<const CObject> ConstPtr;
    typedef std::shared_ptr<CSerializable> Ptr;
    typedef std::shared_ptr<const CSerializable> ConstPtr;
    typedef CProbabilityDensityFunction<TDATA, STATE_LEN> self_t;

    // methods

    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    CProbabilityDensityFunction& operator = (const CProbabilityDensityFunction&);
    CProbabilityDensityFunction& operator = (CProbabilityDensityFunction&&);

Methods

virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const

Returns information about the class of an object in runtime.

virtual void copyFrom(const CPointPDF& o) = 0

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