00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CPose3DPDF_H 00029 #define CPose3DPDF_H 00030 00031 #include <mrpt/utils/CSerializable.h> 00032 #include <mrpt/poses/CPose3D.h> 00033 #include <mrpt/math/CMatrixD.h> 00034 #include <mrpt/utils/CProbabilityDensityFunction.h> 00035 #include <mrpt/poses/opengl_frwd_decl.h> 00036 00037 namespace mrpt 00038 { 00039 namespace poses 00040 { 00041 using namespace mrpt::math; 00042 00043 class CPosePDF; 00044 00045 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CPose3DPDF, mrpt::utils::CSerializable ) 00046 00047 /** Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually). 00048 * This class is just the base class for unifying many diferent 00049 * ways this PDF can be implemented. 00050 * 00051 * For convenience, a pose composition is also defined for any 00052 * PDF derived class, changeCoordinatesReference, in the form of a method rather than an operator. 00053 * 00054 * For a similar class for 3D points (without attitude), see CPointPDF 00055 * 00056 * 00057 * See also the tutorial on <a href="http://www.mrpt.org/Probability_Density_Distributions_Over_Spatial_Representations">probabilistic spatial representations in the MRPT</a>. 00058 * 00059 * \sa CPose3D, CPosePDF, CPointPDF 00060 */ 00061 class BASE_IMPEXP CPose3DPDF : public mrpt::utils::CSerializable, public mrpt::utils::CProbabilityDensityFunction<CPose3D,6> 00062 { 00063 DEFINE_VIRTUAL_SERIALIZABLE( CPose3DPDF ) 00064 00065 public: 00066 00067 /** Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF) 00068 */ 00069 MRPT_DECLARE_DEPRECATED_FUNCTION("**deprecated** Use getMean instead", 00070 CPose3D getEstimatedPose() const ) 00071 { 00072 CPose3D p; 00073 this->getMean(p); 00074 return p; 00075 } 00076 00077 /** Copy operator, translating if necesary (for example, between particles and gaussian representations) 00078 * \sa createFrom2D 00079 */ 00080 virtual void copyFrom(const CPose3DPDF &o) = 0; 00081 00082 /** This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) 00083 * It returns a new object of any of the derived classes of CPose3DPDF. This object must be deleted by the user when not required anymore. 00084 * \sa copyFrom 00085 */ 00086 static CPose3DPDF* createFrom2D(const CPosePDF &o); 00087 00088 /** Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently only distributions of the same class can be fused! eg, gaussian with gaussian,etc) 00089 */ 00090 virtual void bayesianFusion( const CPose3DPDF &p1, const CPose3DPDF &p2 ) = 0 ; 00091 00092 /** Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF 00093 */ 00094 virtual void inverse(CPose3DPDF &o) const = 0; 00095 00096 enum { is_3D_val = 1 }; 00097 static inline bool is_3D() { return is_3D_val!=0; } 00098 enum { is_PDF_val = 1 }; 00099 static inline bool is_PDF() { return is_PDF_val!=0; } 00100 00101 /** Returns a 3D representation of this PDF. 00102 * \note Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument. 00103 */ 00104 template <class OPENGL_SETOFOBJECTSPTR> 00105 inline void getAs3DObject(OPENGL_SETOFOBJECTSPTR &out_obj) const { 00106 *out_obj = *mrpt::opengl::posePDF2opengl<CPose3DPDF,OPENGL_SETOFOBJECTSPTR>(*this); 00107 } 00108 00109 /** Returns a 3D representation of this PDF. 00110 * \note Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument. 00111 */ 00112 template <class OPENGL_SETOFOBJECTSPTR> 00113 inline OPENGL_SETOFOBJECTSPTR getAs3DObject() const { 00114 return mrpt::opengl::posePDF2opengl<CPosePDF,OPENGL_SETOFOBJECTSPTR>(*this); 00115 } 00116 00117 }; // End of class def. 00118 00119 00120 } // End of namespace 00121 } // End of namespace 00122 00123 #endif
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