[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
mrpt::poses::CPose2D	2D pose (x, y, φ)
mrpt::poses::CPose3D	3D pose using yaw/pitch/roll angles
mrpt::poses::CPose3DQuat	3D pose using a unit quaternion
mrpt::poses::CPoint2D	2D point
mrpt::poses::CPoint3D	3D point

Lightweight (non-serializable) equivalents live in mrpt-math : mrpt::math::TPose2D, mrpt::math::TPose3D, mrpt::math::TPoint3D.

Probabilistic pose PDFs

All PDF classes derive from mrpt::poses::CPosePDF (2D), mrpt::poses::CPose3DPDF (3D, yaw/pitch/roll) or mrpt::poses::CPose3DQuatPDF (3D, quaternion). See also the PDFs over spatial transformations tutorial.

Class	Representation
mrpt::poses::CPosePDFGaussian	Gaussian (mean + 3x3 covariance)
mrpt::poses::CPosePDFGaussianInf	Gaussian in information form
mrpt::poses::CPosePDFParticles	Set of weighted samples (particles)
mrpt::poses::CPosePDFSOG	Sum of Gaussians
mrpt::poses::CPosePDFGrid	Discrete grid over (x, y, phi)
mrpt::poses::CPose3DPDFGaussian	3D Gaussian (mean + 6x6 covariance)
mrpt::poses::CPose3DPDFGaussianInf	3D Gaussian in information form
mrpt::poses::CPose3DPDFParticles	3D set of weighted samples (particles)
mrpt::poses::CPose3DPDFSOG	3D sum of Gaussians
mrpt::poses::CPose3DPDFGrid	Discrete grid over the 6D pose space
mrpt::poses::CPose3DQuatPDFGaussian	3D Gaussian (mean + 7x7 covariance)
mrpt::poses::CPose3DQuatPDFGaussianInf	3D Gaussian in information form (quaternion)

Pose interpolation and trajectories

mrpt::poses::CPose2DInterpolator and mrpt::poses::CPose3DInterpolator (both derived from mrpt::poses::CPoseInterpolatorBase) store timestamped pose sequences and interpolate between them with the methods in mrpt::poses::TInterpolatorMethod (linear, splines, SLERP for rotations). mrpt::poses::CPoses2DSequence / mrpt::poses::CPoses3DSequence store sequences of relative (incremental) poses instead.

Library contents

2D/3D point and pose PDFs

2D/3D points and poses

Lie Algebra methods for SO(2),SO(3),SE(2),SE(3)

// global functions

void mrpt::poses::registerAllClasses_mrpt_poses();

Global Functions

void mrpt::poses::registerAllClasses_mrpt_poses()

Forces manual RTTI registration of all serializable classes in this namespace.

Should never be required to be explicitly called by users, except if building MRPT as a static library.