mrpt::poses::SO_average< 2 > Class Template Reference

Detailed Description

template<>
class mrpt::poses::SO_average< 2 >

Computes weighted and un-weighted averages of SO(2) orientations.

Add values to average with append(), when done call get_average(). Use clear() to reset the accumulator and start a new average computation. Theoretical base: Average on SO(2) manifolds is computed by averaging the corresponding 2D points, then projecting the result back to the closest-point in the manifold. Shortly explained in these slides

Note

Class introduced in MRPT 1.3.1

See also

SE_traits

Definition at line 38 of file SO_SE_average.h.

#include <mrpt/poses/SO_SE_average.h>

Public Member Functions
	SO_average ()
	Constructor. More...
void	clear ()
	Resets the accumulator. More...
void	append (const double orientation_rad)
	Adds a new orientation (radians) to the computation. More...
void	append (const double orientation_rad, const double weight)
	Adds a new orientation (radians) to the weighted-average computation. More...
double	get_average () const
	Returns the average orientation (radians). More...

Public Attributes
bool	enable_exception_on_undeterminate
	(Default=false) Set to true if you want to raise an exception on undetermined average values. More...

Private Attributes
double	m_count
double	m_accum_x
double	m_accum_y

Constructor & Destructor Documentation

SO_average()

mrpt::poses::SO_average< 2 >::SO_average

(

)

Constructor.

Member Function Documentation

append() [1/2]

void mrpt::poses::SO_average< 2 >::append

(

const double

orientation_rad

)

Adds a new orientation (radians) to the computation.

See also

get_average

Referenced by run_test_so2_avrg().

append() [2/2]

void mrpt::poses::SO_average< 2 >::append	(	const double	orientation_rad,
		const double	weight
	)

Adds a new orientation (radians) to the weighted-average computation.

See also

get_average

clear()

void mrpt::poses::SO_average< 2 >::clear

(

)

Resets the accumulator.

get_average()

double mrpt::poses::SO_average< 2 >::get_average

(

)

const

Returns the average orientation (radians).

Exceptions

std::logic_error	If no data point were inserted.
std::runtime_error	Upon undeterminate average value (ie the average lays exactly on the origin point) and enable_exception_on_undeterminate is set to true (otherwise, the 0 orientation would be returned)

See also

append

Referenced by run_test_so2_avrg().

Member Data Documentation

enable_exception_on_undeterminate

bool mrpt::poses::SO_average< 2 >::enable_exception_on_undeterminate

(Default=false) Set to true if you want to raise an exception on undetermined average values.

Definition at line 50 of file SO_SE_average.h.

m_accum_x

double mrpt::poses::SO_average< 2 >::m_accum_x

private

Definition at line 53 of file SO_SE_average.h.

m_accum_y

double mrpt::poses::SO_average< 2 >::m_accum_y

private

Definition at line 53 of file SO_SE_average.h.

m_count

double mrpt::poses::SO_average< 2 >::m_count

private

Definition at line 52 of file SO_SE_average.h.