[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) or mrpt::poses::CPose3DPDF (3D):
Class |
Representation |
mrpt::poses::CPosePDFGaussian Gaussian (mean + 3×3 covariance) mrpt::poses::CPosePDFGaussianInf Gaussian in information form mrpt::poses::CPosePDFParticles Particle filter — discrete samples mrpt::poses::CPosePDFSOG Sum of Gaussians mrpt::poses::CPose3DPDFGaussian 3D Gaussian (mean + 6×6 covariance) mrpt::poses::CPose3DPDFParticles 3D particle-filter PDF mrpt::poses::CPose3DPDFSOG 3D sum of Gaussians ================================ ====================================
Pose interpolation and trajectories
mrpt::poses::CPoseInterpolatorBase and its derived mrpt::poses::CPoses2DSequence / mrpt::poses::CPoses3DSequence store timestamped pose sequences and can interpolate between them with linear or spline methods.