class mrpt::poses::CPosePDF

Overview

Declares a class that represents a probability density function (pdf) of a 2D pose (x,y,phi).

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.

See also:

CPose2D, CPose3DPDF, CPoseRandomSampler

#include <mrpt/poses/CPosePDF.h>

class CPosePDF:
    public mrpt::serialization::CSerializable,
    public mrpt::math::CProbabilityDensityFunction,
    public mrpt::Stringifyable
{
public:
    // typedefs

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

    // methods

    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual void printTo(std::ostream& out) const = 0;
    virtual void copyFrom(const CPosePDF& o) = 0;

    virtual void bayesianFusion(
        const CPosePDF& p1,
        const CPosePDF& p2,
        double minMahalanobisDistToDrop = 0
        ) = 0;

    virtual void inverse(CPosePDF& o) const = 0;
    virtual void changeCoordinatesReference(const CPose3D& newReferenceBase) = 0;
};

// direct descendants

class CPosePDFGaussian;
class CPosePDFGaussianInf;
class CPosePDFGrid;
class CPosePDFParticles;
class CPosePDFSOG;

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 printTo(std::ostream& out) const = 0

Write a human-readable description of this PDF to the given stream.

Derived classes must override this method.

virtual void copyFrom(const CPosePDF& o) = 0

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

virtual void bayesianFusion(
    const CPosePDF& p1,
    const CPosePDF& p2,
    double minMahalanobisDistToDrop = 0
    ) = 0

Bayesian fusion of two pose 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 mixed!)

Parameters:

p1	The first distribution to fuse
p2	The second distribution to fuse
minMahalanobisDistToDrop	If 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.

virtual void inverse(CPosePDF& o) const = 0

Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.