[mrpt-poses]

Overview

SE(2)/SE(3) poses and probability distributions

Library mrpt-poses

This library is part of MRPT and can be installed in Debian-based systems with:

sudo apt install libmrpt-poses-dev

Read also how to import MRPT into your CMake scripts.

mrpt-poses provides SE(2)/SE(3) rigid-body transformations and their probability distributions:

Deterministic poses

Class

Description

2D pose (x, y, φ) 3D pose using yaw/pitch/roll angles 3D pose using a unit quaternion 2D point 3D point

Class Representation ===== ====================================

Gaussian (mean + 3×3 covariance) Gaussian in information form Particle filter — discrete samples Sum of Gaussians 3D Gaussian (mean + 6×6 covariance) 3D particle-filter PDF 3D sum of Gaussians