`mrpt.poses`

mrpt-poses Python API.

Package Contents

class mrpt.poses.CPoint2D

C++ API: class mrpt::poses::CPoint2D

CPoint2D(x: float, y: float)

Bases: mrpt.serialization.CSerializable

x: float

y: float

asString() → str

asTPoint() → mrpt.math.TPoint2D: Convert to lightweight mrpt.math.TPoint2D

static fromTPoint(arg0: mrpt.math.TPoint2D) → CPoint2D: Construct CPoint2D from a lightweight mrpt.math.TPoint2D

class mrpt.poses.CPoint3D

C++ API: class mrpt::poses::CPoint3D

CPoint3D(x: float, y: float, z: float)

Bases: mrpt.serialization.CSerializable

x: float

y: float

z: float

asString() → str

asTPoint() → mrpt.math.TPoint3D: Convert to lightweight mrpt.math.TPoint3D

static fromTPoint(arg0: mrpt.math.TPoint3D) → CPoint3D: Construct CPoint3D from a lightweight mrpt.math.TPoint3D

class mrpt.poses.CPose2D

C++ API: class mrpt::poses::CPose2D

CPose2D(x: float, y: float, phi: float) CPose2D(arg0: Any)

Bases: mrpt.serialization.CSerializable

property phi: float: Phi orientation (radians)

property x: float: X coordinate

property y: float: Y coordinate

asString() → str: Returns human-readable string [x y phi]

asTPose() → mrpt.math.TPose2D: Convert to lightweight mrpt.math.TPose2D

fromString(arg0: str) → None: Set value from string

static fromTPose(arg0: mrpt.math.TPose2D) → CPose2D: Construct CPose2D from a lightweight mrpt.math.TPose2D

inverse() → CPose2D: Returns the inverse pose

norm() → float: Returns the norm of the (x,y) vector

normalizePhi() → None: Forces phi to be in [-pi,pi]

class mrpt.poses.CPose2DInterpolator

C++ API: class mrpt::poses::CPose2DInterpolator

Bases: mrpt.serialization.CSerializable

clear() → None

empty() → bool

insert(arg0: datetime.timedelta, arg1: mrpt.math.TPose2D) → None

interpolate(arg0: datetime.timedelta) → tuple: Returns (TPose2D, valid) — interpolated pose at given time

size() → int

class mrpt.poses.CPose3D

C++ API: class mrpt::poses::CPose3D

CPose3D(x: float, y: float, z: float, yaw: float = 0, pitch: float = 0, roll: float = 0) CPose3D(arg0: CPose2D)

Bases: mrpt.serialization.CSerializable

property x: float: X coordinate

property y: float: Y coordinate

property z: float: Z coordinate

pitch: float

roll: float

yaw: float

static FromTranslation(arg0: float, arg1: float, arg2: float) → CPose3D

static FromXYZYawPitchRoll(arg0: float, arg1: float, arg2: float, arg3: float, arg4: float, arg5: float) → CPose3D

static FromYawPitchRoll(arg0: float, arg1: float, arg2: float) → CPose3D

asString() → str

asTPose() → mrpt.math.TPose3D: Convert to lightweight mrpt.math.TPose3D

composePoint(arg0: mrpt.math.TPoint3D) → mrpt.math.TPoint3D
composePoint(arg0: float, arg1: float, arg2: float) → mrpt.math.TPoint3D

static fromTPose(arg0: mrpt.math.TPose3D) → CPose3D: Construct CPose3D from a lightweight mrpt.math.TPose3D

getHomogeneousMatrix() → mrpt.math.CMatrixDouble44: Returns the 4x4 homogeneous transformation matrix

getInverseHomogeneousMatrix() → mrpt.math.CMatrixDouble44

getOppositeScalar() → CPose3D

getRotationMatrix() → mrpt.math.CMatrixDouble33: Returns the 3x3 Rotation Matrix

getYawPitchRoll() → tuple[float, float, float]: Returns (yaw, pitch, roll) as a tuple in radians

inverse() → None: Inverts the pose in place

inverseComposePoint(arg0: mrpt.math.TPoint3D) → mrpt.math.TPoint3D
inverseComposePoint(arg0: float, arg1: float, arg2: float) → mrpt.math.TPoint3D

setFromValues(arg0: float, arg1: float, arg2: float, arg3: float, arg4: float, arg5: float) → None

setRotationMatrix(arg0: mrpt.math.CMatrixDouble33) → None

setYawPitchRoll(arg0: float, arg1: float, arg2: float) → None

class mrpt.poses.CPose3DInterpolator

C++ API: class mrpt::poses::CPose3DInterpolator

Bases: mrpt.serialization.CSerializable

clear() → None

empty() → bool

insert(arg0: datetime.timedelta, arg1: mrpt.math.TPose3D) → None

interpolate(arg0: datetime.timedelta) → tuple: Returns (TPose3D, valid) — interpolated pose at given time

size() → int

class mrpt.poses.CPose3DPDF

C++ API: class mrpt::poses::CPose3DPDF

Bases: mrpt.serialization.CSerializable

getCovariance() → mrpt.math.CMatrixDouble66: Returns the 6x6 covariance matrix

getCovarianceAndMean() → tuple: Returns the tuple (cov: CMatrixDouble66, mean: CPose3D)

getMean() → CPose3D: Returns the mean (expected value) of the distribution

saveToTextFile(file: str) → bool: Saves the distribution to a text file. Returns False on error.

class mrpt.poses.CPose3DPDFGaussian

C++ API: class mrpt::poses::CPose3DPDFGaussian

CPose3DPDFGaussian(arg0: CPose3D) CPose3DPDFGaussian(arg0: CPose3D, arg1: mrpt.math.CMatrixDouble66)

Bases: CPose3DPDF

cov: mrpt.math.CMatrixDouble66

mean: CPose3D

drawSingleSample() → CPose3D: Draws a single sample from the Gaussian distribution and returns it as a CPose3D.

evaluateNormalizedPDF(arg0: CPose3D) → float

evaluatePDF(arg0: CPose3D) → float

saveToTextFile(arg0: str) → bool: Saves the distribution to a text file. Returns False on error.

class mrpt.poses.CPose3DPDFGaussianInf

C++ API: class mrpt::poses::CPose3DPDFGaussianInf

CPose3DPDFGaussianInf(arg0: CPose3D) CPose3DPDFGaussianInf(mean: CPose3D, inf_matrix: mrpt.math.CMatrixDouble66)

Bases: CPose3DPDF

cov_inv: mrpt.math.CMatrixDouble66

mean: CPose3D

drawSingleSample() → CPose3D: Draws a single sample from the distribution and returns it as a CPose3D.

isInfType() → bool

class mrpt.poses.CPose3DPDFParticles(M: int = 1)

C++ API: class mrpt::poses::CPose3DPDFParticles

Bases: CPose3DPDF, mrpt.bayes.CParticleFilterCapable

drawSingleSample() → CPose3D

getMostLikelyParticle() → mrpt.math.TPose3D

getParticlePose(i: int) → mrpt.math.TPose3D

getParticlesAsNumpy() → numpy.ndarray: Returns all particles as an Nx7 array with columns (x, y, z, yaw, pitch, roll, log_weight)

resetDeterministic(location: mrpt.math.TPose3D, particlesCount: int = 0) → None: Sets all particles to the given pose (particlesCount=0 keeps the count)

resetUniform(corner_min: mrpt.math.TPose3D, corner_max: mrpt.math.TPose3D, particlesCount: int = -1) → None: Spreads particles uniformly between two TPose3D corners

size() → int

class mrpt.poses.CPose3DQuat

C++ API: class mrpt::poses::CPose3DQuat

CPose3DQuat(arg0: CPose3D)

Bases: mrpt.serialization.CSerializable

quat: Any

x: float

y: float

z: float

asString() → str

asTPose() → mrpt.math.TPose3DQuat: Convert to lightweight mrpt.math.TPose3DQuat

static fromTPose(arg0: mrpt.math.TPose3DQuat) → CPose3DQuat: Construct CPose3DQuat from a lightweight mrpt.math.TPose3DQuat

norm() → float

class mrpt.poses.CPosePDF

C++ API: class mrpt::poses::CPosePDF

Bases: mrpt.serialization.CSerializable

getCovariance() → mrpt.math.CMatrixDouble33: Returns the 3x3 covariance matrix

getCovarianceAndMean() → tuple: Returns the tuple (cov: CMatrixDouble33, mean: CPose2D)

getMean() → CPose2D: Returns the mean (expected value) of the distribution

saveToTextFile(file: str) → bool: Saves the distribution to a text file. Returns False on error.

class mrpt.poses.CPosePDFGaussian

C++ API: class mrpt::poses::CPosePDFGaussian

CPosePDFGaussian(arg0: CPose2D) CPosePDFGaussian(arg0: CPose2D, arg1: mrpt.math.CMatrixDouble33)

Bases: CPosePDF

cov: mrpt.math.CMatrixDouble33

mean: CPose2D

drawSingleSample() → CPose2D: Draw a single sample from the Gaussian distribution

evaluateNormalizedPDF(arg0: CPose2D) → float

evaluatePDF(arg0: CPose2D) → float

class mrpt.poses.CPosePDFGaussianInf

C++ API: class mrpt::poses::CPosePDFGaussianInf

CPosePDFGaussianInf(arg0: CPose2D) CPosePDFGaussianInf(mean: CPose2D, inf_matrix: mrpt.math.CMatrixDouble33)

Bases: CPosePDF

cov_inv: mrpt.math.CMatrixDouble33

mean: CPose2D

drawSingleSample() → CPose2D

class mrpt.poses.CPosePDFParticles(M: int = 1)

C++ API: class mrpt::poses::CPosePDFParticles

Bases: CPosePDF, mrpt.bayes.CParticleFilterCapable

clear() → None

drawSingleSample() → CPose2D

getMostLikelyParticle() → mrpt.math.TPose2D

getParticlePose(i: int) → mrpt.math.TPose2D

getParticlesAsNumpy() → numpy.ndarray: Returns all particles as an Nx4 array with columns (x, y, phi, log_weight)

resetAroundSetOfPoses(list_poses: list[mrpt.math.TPose2D], num_particles_per_pose: int, spread_x: float, spread_y: float, spread_phi_rad: float) → None

resetDeterministic(location: mrpt.math.TPose2D, particlesCount: int = 0) → None: Sets all particles to the given pose (particlesCount=0 keeps the count)

resetUniform(x_min: float, x_max: float, y_min: float, y_max: float, phi_min: float = -3.141592653589793, phi_max: float = 3.141592653589793, particlesCount: int = -1) → None: Spreads particles uniformly in [x_min,x_max]x[y_min,y_max]x[phi_min,phi_max]

size() → int

class mrpt.poses.CPoseRandomSampler

C++ API: class mrpt::poses::CPoseRandomSampler

drawSample2D() → CPose2D: Draw a 2D pose sample

drawSample3D() → CPose3D: Draw a 3D pose sample

setPosePDF(arg0: CPosePDF) → None
setPosePDF(arg0: CPose3DPDF) → None

class mrpt.poses.SE_average2

append(arg0: CPose2D) → None
append(arg0: CPose2D, arg1: float) → None

clear() → None

get_average() → CPose2D: Returns the calculated average pose.

class mrpt.poses.SE_average3

append(arg0: CPose3D) → None
append(arg0: CPose3D, arg1: float) → None

clear() → None

get_average() → CPose3D: Returns the calculated average pose.

mrpt.poses

Package Contents

`mrpt.poses`