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mrpt::poses Namespace Reference


Detailed Description

Classes for 2D/3D geometry representation, both of single values and probability density distributions (PDFs) in many forms.

Namespaces

namespace  detail
 

Internal functions for MRPT.


Classes

class  CNetworkOfPoses
 A directed graph of pose constraints, with edges being the relative pose between pairs of nodes indentified by their numeric IDs (of type TNodeID). More...
struct  CNetworkOfPoses2DPtr
struct  CNetworkOfPoses3DPtr
struct  CNetworkOfPoses2DCovPtr
struct  CNetworkOfPoses3DCovPtr
struct  CNetworkOfPoses2DInfPtr
struct  CNetworkOfPoses3DInfPtr
class  CNetworkOfPoses2D
 The specialization of CNetworkOfPoses for poses of type CPose2D (not a PDF!), also implementing serialization. More...
class  CNetworkOfPoses3D
 The specialization of CNetworkOfPoses for poses of type CPose3D (not a PDF!), also implementing serialization. More...
class  CNetworkOfPoses2DCov
 The specialization of CNetworkOfPoses for poses of type CPosePDFGaussian, also implementing serialization. More...
class  CNetworkOfPoses3DCov
 The specialization of CNetworkOfPoses for poses of type CPose3DPDFGaussian, also implementing serialization. More...
class  CNetworkOfPoses2DInf
 The specialization of CNetworkOfPoses for poses of type CPosePDFGaussianInf, also implementing serialization. More...
class  CNetworkOfPoses3DInf
 The specialization of CNetworkOfPoses for poses of type CPose3DPDFGaussianInf, also implementing serialization. More...
class  CPoint
 A base class for representing a point in 2D or 3D. More...
struct  CPoint2DPtr
class  CPoint2D
 A class used to store a 2D point. More...
struct  CPoint2DPDFPtr
class  CPoint2DPDF
 Declares a class that represents a Probability Distribution function (PDF) of a 2D point (x,y). More...
struct  CPoint2DPDFGaussianPtr
class  CPoint2DPDFGaussian
 A gaussian distribution for 2D points. More...
struct  CPoint3DPtr
class  CPoint3D
 A class used to store a 3D point. More...
struct  CPointPDFPtr
class  CPointPDF
 Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x,y,z). More...
struct  CPointPDFGaussianPtr
class  CPointPDFGaussian
 A gaussian distribution for 3D points. More...
struct  TSimple3DPointPtr
class  TSimple3DPoint
 Data within each particle. More...
struct  CPointPDFParticlesPtr
class  CPointPDFParticles
 A probability distribution of a 2D/3D point, represented as a set of random samples (particles). More...
struct  CPointPDFSOGPtr
class  CPointPDFSOG
 Declares a class that represents a Probability Density function (PDF) of a 3D point $ p(\mathbf{x}) = [x ~ y ~ z ]^t $. More...
class  CPose
 A base class for representing a pose in 2D or 3D. More...
struct  CPose2DPtr
class  CPose2D
 A class used to store a 2D pose. More...
class  CPose2DGridTemplate
 This is a template class for storing a 3D (2D+heading) grid containing any kind of data. More...
struct  CPose3DPtr
class  CPose3D
 A class used to store a 3D pose (a 3D translation + a rotation in 3D). More...
struct  CPose3DInterpolatorPtr
class  CPose3DInterpolator
 A trajectory in time and in 6D (CPose3D) that interpolates using splines the intervals between a set of given time-referenced poses. More...
struct  CPose3DPDFPtr
class  CPose3DPDF
 Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually). More...
struct  CPose3DPDFGaussianPtr
class  CPose3DPDFGaussian
 Declares a class that represents a Probability Density function (PDF) of a 3D pose $ p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t $. More...
struct  CPose3DPDFGaussianInfPtr
class  CPose3DPDFGaussianInf
 Declares a class that represents a Probability Density function (PDF) of a 3D pose $ p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t $ as a Gaussian described by its mean and its inverse covariance matrix. More...
struct  CPose3DPDFParticlesPtr
class  CPose3DPDFParticles
 Declares a class that represents a Probability Density function (PDF) of a 3D pose. More...
struct  CPose3DPDFSOGPtr
class  CPose3DPDFSOG
 Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose $ p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t $. More...
struct  CPose3DQuatPtr
class  CPose3DQuat
 A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz). More...
struct  CPose3DQuatPDFPtr
class  CPose3DQuatPDF
 Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually), by means of a 7-vector with a translation [x y z] and a quaternion [qr qx qy qz]. More...
struct  CPose3DQuatPDFGaussianPtr
class  CPose3DQuatPDFGaussian
 Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion $ p(\mathbf{x}) = [x ~ y ~ z ~ qr ~ qx ~ qy ~ qz]^\top $. More...
class  CPoseOrPoint
 The base template class for 2D & 3D points and poses. More...
struct  CPosePDFPtr
class  CPosePDF
 Declares a class that represents a probability density function (pdf) of a 2D pose (x,y,phi). More...
struct  CPosePDFGaussianPtr
class  CPosePDFGaussian
 Declares a class that represents a Probability Density function (PDF) of a 2D pose $ p(\mathbf{x}) = [x ~ y ~ \phi ]^t $. More...
struct  CPosePDFGaussianInfPtr
class  CPosePDFGaussianInf
 A Probability Density function (PDF) of a 2D pose $ p(\mathbf{x}) = [x ~ y ~ \phi ]^t $ as a Gaussian with a mean and the inverse of the covariance. More...
struct  CPosePDFGridPtr
class  CPosePDFGrid
 Declares a class that represents a Probability Distribution function (PDF) of a 2D pose (x,y,phi). More...
struct  CPosePDFParticlesPtr
class  CPosePDFParticles
 Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x,y,phi), using a set of weighted samples. More...
struct  CPosePDFSOGPtr
class  CPosePDFSOG
 Declares a class that represents a Probability Density function (PDF) of a 2D pose $ p(\mathbf{x}) = [x ~ y ~ \phi ]^t $. More...
class  CPoseRandomSampler
 An efficient generator of random samples drawn from a given 2D (CPosePDF) or 3D (CPose3DPDF) pose probability density function (pdf). More...
struct  CPoses2DSequencePtr
class  CPoses2DSequence
 This class stores a sequence of relative, incremental 2D poses. More...
struct  CPoses3DSequencePtr
class  CPoses3DSequence
 This class stores a sequence of relative, incremental 3D poses. More...
class  CRobot2DPoseEstimator
 A simple filter to estimate and extrapolate the robot 2D (x,y,phi) pose from asynchronous odometry and localization data. More...
struct  SE_traits< 3 >
 Specialization of SE for 3D poses. More...
struct  SE_traits< 2 >
 Specialization of SE for 2D poses. More...

Typedefs

typedef
mrpt::aligned_containers
< CPose2D >::vector_t 
StdVector_CPose2D
 Eigen aligment-compatible container.
typedef
mrpt::aligned_containers
< CPose2D >::deque_t 
StdDeque_CPose2D
 Eigen aligment-compatible container.
typedef std::pair
< mrpt::system::TTimeStamp,
mrpt::poses::CPose3D
TTimePosePair
typedef CProbabilityParticle
< CPose3D
CPose3DParticle
 A type definition for m_particles containing a 3D pose.

Enumerations

enum  TConstructorFlags_Poses { UNINITIALIZED_POSE = 0 }

Functions

BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CNetworkOfPoses2DPtr &pObj)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CNetworkOfPoses3DPtr &pObj)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CNetworkOfPoses2DCovPtr &pObj)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CNetworkOfPoses3DCovPtr &pObj)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CNetworkOfPoses2DInfPtr &pObj)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CNetworkOfPoses3DInfPtr &pObj)
template<class DERIVEDCLASS >
std::ostream & operator<< (std::ostream &o, const CPoint< DERIVEDCLASS > &p)
 Dumps a point as a string [x,y] or [x,y,z].
template<class DERIVEDCLASS >
bool operator< (const CPoint< DERIVEDCLASS > &a, const CPoint< DERIVEDCLASS > &b)
 Used by STL algorithms.
template<class DERIVEDCLASS >
bool operator== (const CPoint< DERIVEDCLASS > &p1, const CPoint< DERIVEDCLASS > &p2)
template<class DERIVEDCLASS >
bool operator!= (const CPoint< DERIVEDCLASS > &p1, const CPoint< DERIVEDCLASS > &p2)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPoint2DPtr &pObj)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPoint2DPDFPtr &pObj)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPoint2DPDFGaussianPtr &pObj)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPoint3DPtr &pObj)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPointPDFPtr &pObj)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPointPDFGaussianPtr &pObj)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, TSimple3DPointPtr &pObj)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPointPDFParticlesPtr &pObj)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPointPDFSOGPtr &pObj)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPose2DPtr &pObj)
std::ostream BASE_IMPEXP & operator<< (std::ostream &o, const CPose2D &p)
CPose2D BASE_IMPEXP operator- (const CPose2D &p)
 Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y phi)
mrpt::math::TPoint2D BASE_IMPEXP operator+ (const CPose2D &pose, const mrpt::math::TPoint2D &pnt)
 Compose a 2D point from a new coordinate base given by a 2D pose.
bool BASE_IMPEXP operator== (const CPose2D &p1, const CPose2D &p2)
bool BASE_IMPEXP operator!= (const CPose2D &p1, const CPose2D &p2)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPose3DPtr &pObj)
std::ostream BASE_IMPEXP & operator<< (std::ostream &o, const CPose3D &p)
CPose3D BASE_IMPEXP operator- (const CPose3D &p)
 Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y z yaw pitch roll)
bool BASE_IMPEXP operator== (const CPose3D &p1, const CPose3D &p2)
bool BASE_IMPEXP operator!= (const CPose3D &p1, const CPose3D &p2)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPose3DInterpolatorPtr &pObj)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPose3DPDFPtr &pObj)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPose3DPDFGaussianPtr &pObj)
CPose3DPDFGaussian operator+ (const CPose3DPDFGaussian &x, const CPose3DPDFGaussian &u)
 Pose composition for two 3D pose Gaussians.
CPose3DPDFGaussian operator- (const CPose3DPDFGaussian &x, const CPose3DPDFGaussian &u)
 Pose composition for two 3D pose Gaussians.
std::ostream BASE_IMPEXP & operator<< (std::ostream &out, const CPose3DPDFGaussian &obj)
 Dumps the mean and covariance matrix to a text stream.
bool BASE_IMPEXP operator== (const CPose3DPDFGaussian &p1, const CPose3DPDFGaussian &p2)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPose3DPDFGaussianInfPtr &pObj)
CPose3DPDFGaussianInf operator+ (const CPose3DPDFGaussianInf &x, const CPose3DPDFGaussianInf &u)
 Pose composition for two 3D pose Gaussians.
CPose3DPDFGaussianInf operator- (const CPose3DPDFGaussianInf &x, const CPose3DPDFGaussianInf &u)
 Pose composition for two 3D pose Gaussians.
std::ostream BASE_IMPEXP & operator<< (std::ostream &out, const CPose3DPDFGaussianInf &obj)
 Dumps the mean and covariance matrix to a text stream.
bool BASE_IMPEXP operator== (const CPose3DPDFGaussianInf &p1, const CPose3DPDFGaussianInf &p2)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPose3DPDFParticlesPtr &pObj)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPose3DPDFSOGPtr &pObj)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPose3DQuatPtr &pObj)
std::ostream BASE_IMPEXP & operator<< (std::ostream &o, const CPose3DQuat &p)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPose3DQuatPDFPtr &pObj)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPose3DQuatPDFGaussianPtr &pObj)
CPose3DQuatPDFGaussian operator+ (const CPose3DQuatPDFGaussian &x, const CPose3DQuatPDFGaussian &u)
 Pose composition for two 3D pose Gaussians.
CPose3DQuatPDFGaussian operator- (const CPose3DQuatPDFGaussian &x, const CPose3DQuatPDFGaussian &u)
 Inverse pose composition for two 3D pose Gaussians.
std::ostream BASE_IMPEXP & operator<< (std::ostream &out, const CPose3DQuatPDFGaussian &obj)
 Dumps the mean and covariance matrix to a text stream.
bool BASE_IMPEXP operator== (const CPose3DQuatPDFGaussian &p1, const CPose3DQuatPDFGaussian &p2)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPosePDFPtr &pObj)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPosePDFGaussianPtr &pObj)
CPosePDFGaussian operator+ (const CPosePDFGaussian &a, const CPosePDFGaussian &b)
 Pose compose operator: RES = A (+) B , computing both the mean and the covariance.
CPosePDFGaussian operator- (const CPosePDFGaussian &a, const CPosePDFGaussian &b)
 Pose inverse compose operator: RES = A (-) B , computing both the mean and the covariance.
std::ostream BASE_IMPEXP & operator<< (std::ostream &out, const CPosePDFGaussian &obj)
 Dumps the mean and covariance matrix to a text stream.
poses::CPosePDFGaussian BASE_IMPEXP operator+ (const mrpt::poses::CPose2D &A, const mrpt::poses::CPosePDFGaussian &B)
 Returns the Gaussian distribution of $ \mathbf{C} $, for $ \mathbf{C} = \mathbf{A} \oplus \mathbf{B} $.
bool BASE_IMPEXP operator== (const CPosePDFGaussian &p1, const CPosePDFGaussian &p2)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPosePDFGaussianInfPtr &pObj)
CPosePDFGaussianInf operator+ (const CPosePDFGaussianInf &a, const CPosePDFGaussianInf &b)
 Pose compose operator: RES = A (+) B , computing both the mean and the covariance.
CPosePDFGaussianInf operator- (const CPosePDFGaussianInf &a, const CPosePDFGaussianInf &b)
 Pose inverse compose operator: RES = A (-) B , computing both the mean and the covariance.
std::ostream BASE_IMPEXP & operator<< (std::ostream &out, const CPosePDFGaussianInf &obj)
 Dumps the mean and covariance matrix to a text stream.
poses::CPosePDFGaussianInf
BASE_IMPEXP 
operator+ (const mrpt::poses::CPose2D &A, const mrpt::poses::CPosePDFGaussianInf &B)
 Returns the Gaussian distribution of $ \mathbf{C} $, for $ \mathbf{C} = \mathbf{A} \oplus \mathbf{B} $.
bool BASE_IMPEXP operator== (const CPosePDFGaussianInf &p1, const CPosePDFGaussianInf &p2)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPosePDFGridPtr &pObj)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPosePDFParticlesPtr &pObj)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPosePDFSOGPtr &pObj)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPoses2DSequencePtr &pObj)
BASE_IMPEXP::mrpt::utils::CStream & operator>> (mrpt::utils::CStream &in, CPoses3DSequencePtr &pObj)
Helper templates to convert a pose or a pose PDF to its mean value at compile time.
template<class POSE >
const POSE::type_value & getPoseMean (const POSE &p)
template<class POSE >
POSE::type_value & getPoseMean (POSE &p)
template<>
const CPose2DgetPoseMean< CPose2D > (const CPose2D &p)
template<>
const CPose3DgetPoseMean< CPose3D > (const CPose3D &p)
template<>
const CPose3DQuatgetPoseMean< CPose3DQuat > (const CPose3DQuat &p)
template<>
CPose2DgetPoseMean< CPose2D > (CPose2D &p)
template<>
CPose3DgetPoseMean< CPose3D > (CPose3D &p)
template<>
CPose3DQuatgetPoseMean< CPose3DQuat > (CPose3DQuat &p)
template<>
const CPose2DgetPoseMean< CPosePDFGaussian > (const CPosePDFGaussian &p)
template<>
const CPose2DgetPoseMean< CPosePDFGaussianInf > (const CPosePDFGaussianInf &p)
template<>
const CPose3DgetPoseMean< CPose3DPDFGaussian > (const CPose3DPDFGaussian &p)
template<>
const CPose3DgetPoseMean< CPose3DPDFGaussianInf > (const CPose3DPDFGaussianInf &p)
template<>
const CPose3DQuatgetPoseMean< CPose3DQuatPDFGaussian > (const CPose3DQuatPDFGaussian &p)
template<>
CPose2DgetPoseMean< CPosePDFGaussian > (CPosePDFGaussian &p)
template<>
CPose2DgetPoseMean< CPosePDFGaussianInf > (CPosePDFGaussianInf &p)
template<>
CPose3DgetPoseMean< CPose3DPDFGaussian > (CPose3DPDFGaussian &p)
template<>
CPose3DgetPoseMean< CPose3DPDFGaussianInf > (CPose3DPDFGaussianInf &p)
template<>
CPose3DQuatgetPoseMean< CPose3DQuatPDFGaussian > (CPose3DQuatPDFGaussian &p)

Variables

class BASE_IMPEXP CNetworkOfPoses2D
class BASE_IMPEXP CNetworkOfPoses3D
class BASE_IMPEXP CNetworkOfPoses2DCov
class BASE_IMPEXP CNetworkOfPoses3DCov
class BASE_IMPEXP CNetworkOfPoses2DInf
class BASE_IMPEXP CNetworkOfPoses3DInf
class BASE_IMPEXP CPoint2D
class BASE_IMPEXP CPoint2DPDF
class BASE_IMPEXP CPoint2DPDFGaussian
class BASE_IMPEXP CPoint3D
class BASE_IMPEXP CPointPDF
class BASE_IMPEXP CPointPDFGaussian
class BASE_IMPEXP TSimple3DPoint
class BASE_IMPEXP CPointPDFParticles
class BASE_IMPEXP CPointPDFSOG
class BASE_IMPEXP CPose2D
class BASE_IMPEXP CPose3DQuat
class BASE_IMPEXP CPose3D
class BASE_IMPEXP CPose3DInterpolator
class BASE_IMPEXP CPose3DPDF
class BASE_IMPEXP CPose3DPDFGaussian
class BASE_IMPEXP CPose3DPDFGaussianInf
class BASE_IMPEXP CPose3DPDFParticles
class BASE_IMPEXP CPose3DPDFSOG
class BASE_IMPEXP CPose3DQuatPDF
class BASE_IMPEXP CPose3DQuatPDFGaussian
class BASE_IMPEXP CPosePDF
class BASE_IMPEXP CPosePDFGaussian
class BASE_IMPEXP CPosePDFGaussianInf
class BASE_IMPEXP CPosePDFGrid
class BASE_IMPEXP CPosePDFParticles
class BASE_IMPEXP CPosePDFSOG
class BASE_IMPEXP CPoses2DSequence
class BASE_IMPEXP CPoses3DSequence
struct BASE_IMPEXP SE_traits
 A helper class for SE(2) and SE(3) geometry-related transformations, on-manifold optimization Jacobians, etc.

Typedef Documentation

A type definition for m_particles containing a 3D pose.

Definition at line 46 of file CPose3DPDFParticles.h.

Eigen aligment-compatible container.

Definition at line 245 of file CPose2D.h.

Eigen aligment-compatible container.

Definition at line 244 of file CPose2D.h.

Definition at line 44 of file CPose3DInterpolator.h.


Enumeration Type Documentation

Enumerator:
UNINITIALIZED_POSE 

Definition at line 48 of file CPoseOrPoint.h.


Function Documentation

template<class POSE >
const POSE::type_value& mrpt::poses::getPoseMean ( const POSE &  p) [inline]
template<class POSE >
POSE::type_value& mrpt::poses::getPoseMean ( POSE &  p) [inline]
template<>
const CPose2D& mrpt::poses::getPoseMean< CPose2D > ( const CPose2D &  p) [inline]

Definition at line 51 of file helper_templates.h.

template<>
CPose2D& mrpt::poses::getPoseMean< CPose2D > ( CPose2D &  p) [inline]

Definition at line 54 of file helper_templates.h.

template<>
const CPose3D& mrpt::poses::getPoseMean< CPose3D > ( const CPose3D &  p) [inline]

Definition at line 52 of file helper_templates.h.

template<>
CPose3D& mrpt::poses::getPoseMean< CPose3D > ( CPose3D &  p) [inline]

Definition at line 55 of file helper_templates.h.

template<>
const CPose3D& mrpt::poses::getPoseMean< CPose3DPDFGaussian > ( const CPose3DPDFGaussian &  p) [inline]

Definition at line 60 of file helper_templates.h.

template<>
CPose3D& mrpt::poses::getPoseMean< CPose3DPDFGaussian > ( CPose3DPDFGaussian &  p) [inline]

Definition at line 66 of file helper_templates.h.

template<>
const CPose3D& mrpt::poses::getPoseMean< CPose3DPDFGaussianInf > ( const CPose3DPDFGaussianInf &  p) [inline]

Definition at line 61 of file helper_templates.h.

template<>
CPose3D& mrpt::poses::getPoseMean< CPose3DPDFGaussianInf > ( CPose3DPDFGaussianInf &  p) [inline]

Definition at line 67 of file helper_templates.h.

template<>
const CPose3DQuat& mrpt::poses::getPoseMean< CPose3DQuat > ( const CPose3DQuat &  p) [inline]

Definition at line 53 of file helper_templates.h.

template<>
CPose3DQuat& mrpt::poses::getPoseMean< CPose3DQuat > ( CPose3DQuat &  p) [inline]

Definition at line 56 of file helper_templates.h.

template<>
const CPose3DQuat& mrpt::poses::getPoseMean< CPose3DQuatPDFGaussian > ( const CPose3DQuatPDFGaussian &  p) [inline]

Definition at line 62 of file helper_templates.h.

template<>
CPose3DQuat& mrpt::poses::getPoseMean< CPose3DQuatPDFGaussian > ( CPose3DQuatPDFGaussian &  p) [inline]

Definition at line 68 of file helper_templates.h.

template<>
CPose2D& mrpt::poses::getPoseMean< CPosePDFGaussian > ( CPosePDFGaussian &  p) [inline]

Definition at line 64 of file helper_templates.h.

template<>
const CPose2D& mrpt::poses::getPoseMean< CPosePDFGaussian > ( const CPosePDFGaussian &  p) [inline]

Definition at line 58 of file helper_templates.h.

template<>
const CPose2D& mrpt::poses::getPoseMean< CPosePDFGaussianInf > ( const CPosePDFGaussianInf &  p) [inline]

Definition at line 59 of file helper_templates.h.

template<>
CPose2D& mrpt::poses::getPoseMean< CPosePDFGaussianInf > ( CPosePDFGaussianInf &  p) [inline]

Definition at line 65 of file helper_templates.h.

template<class DERIVEDCLASS >
bool mrpt::poses::operator!= ( const CPoint< DERIVEDCLASS > &  p1,
const CPoint< DERIVEDCLASS > &  p2 
)

Definition at line 155 of file CPoint.h.

References static_size.

bool BASE_IMPEXP mrpt::poses::operator!= ( const CPose2D &  p1,
const CPose2D &  p2 
)
bool BASE_IMPEXP mrpt::poses::operator!= ( const CPose3D &  p1,
const CPose3D &  p2 
)
CPose3DPDFGaussian mrpt::poses::operator+ ( const CPose3DPDFGaussian &  x,
const CPose3DPDFGaussian &  u 
) [inline]

Pose composition for two 3D pose Gaussians.

See also:
CPose3DPDFGaussian::operator +=

Definition at line 230 of file CPose3DPDFGaussian.h.

poses::CPosePDFGaussianInf BASE_IMPEXP mrpt::poses::operator+ ( const mrpt::poses::CPose2D A,
const mrpt::poses::CPosePDFGaussianInf B 
)

Returns the Gaussian distribution of $ \mathbf{C} $, for $ \mathbf{C} = \mathbf{A} \oplus \mathbf{B} $.

CPose3DPDFGaussianInf mrpt::poses::operator+ ( const CPose3DPDFGaussianInf &  x,
const CPose3DPDFGaussianInf &  u 
) [inline]

Pose composition for two 3D pose Gaussians.

See also:
CPose3DPDFGaussian::operator +=

Definition at line 214 of file CPose3DPDFGaussianInf.h.

mrpt::math::TPoint2D BASE_IMPEXP mrpt::poses::operator+ ( const CPose2D &  pose,
const mrpt::math::TPoint2D pnt 
)

Compose a 2D point from a new coordinate base given by a 2D pose.

CPose3DQuatPDFGaussian mrpt::poses::operator+ ( const CPose3DQuatPDFGaussian &  x,
const CPose3DQuatPDFGaussian &  u 
) [inline]

Pose composition for two 3D pose Gaussians.

See also:
CPose3DQuatPDFGaussian::operator +=

Definition at line 202 of file CPose3DQuatPDFGaussian.h.

CPosePDFGaussian mrpt::poses::operator+ ( const CPosePDFGaussian &  a,
const CPosePDFGaussian &  b 
) [inline]

Pose compose operator: RES = A (+) B , computing both the mean and the covariance.

Definition at line 216 of file CPosePDFGaussian.h.

poses::CPosePDFGaussian BASE_IMPEXP mrpt::poses::operator+ ( const mrpt::poses::CPose2D A,
const mrpt::poses::CPosePDFGaussian B 
)

Returns the Gaussian distribution of $ \mathbf{C} $, for $ \mathbf{C} = \mathbf{A} \oplus \mathbf{B} $.

CPosePDFGaussianInf mrpt::poses::operator+ ( const CPosePDFGaussianInf &  a,
const CPosePDFGaussianInf &  b 
) [inline]

Pose compose operator: RES = A (+) B , computing both the mean and the covariance.

Definition at line 213 of file CPosePDFGaussianInf.h.

CPose3DPDFGaussian mrpt::poses::operator- ( const CPose3DPDFGaussian &  x,
const CPose3DPDFGaussian &  u 
) [inline]

Pose composition for two 3D pose Gaussians.

See also:
CPose3DPDFGaussian::operator -=

Definition at line 238 of file CPose3DPDFGaussian.h.

CPose3DPDFGaussianInf mrpt::poses::operator- ( const CPose3DPDFGaussianInf &  x,
const CPose3DPDFGaussianInf &  u 
) [inline]

Pose composition for two 3D pose Gaussians.

See also:
CPose3DPDFGaussianInf::operator -=

Definition at line 222 of file CPose3DPDFGaussianInf.h.

CPose2D BASE_IMPEXP mrpt::poses::operator- ( const CPose2D &  p)

Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y phi)

CPose3DQuatPDFGaussian mrpt::poses::operator- ( const CPose3DQuatPDFGaussian &  x,
const CPose3DQuatPDFGaussian &  u 
) [inline]

Inverse pose composition for two 3D pose Gaussians.

See also:
CPose3DQuatPDFGaussian::operator -=

Definition at line 210 of file CPose3DQuatPDFGaussian.h.

CPosePDFGaussian mrpt::poses::operator- ( const CPosePDFGaussian &  a,
const CPosePDFGaussian &  b 
) [inline]

Pose inverse compose operator: RES = A (-) B , computing both the mean and the covariance.

Definition at line 223 of file CPosePDFGaussian.h.

References mrpt::poses::CPosePDFGaussian::inverseComposition().

CPose3D BASE_IMPEXP mrpt::poses::operator- ( const CPose3D &  p)

Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y z yaw pitch roll)

CPosePDFGaussianInf mrpt::poses::operator- ( const CPosePDFGaussianInf &  a,
const CPosePDFGaussianInf &  b 
) [inline]

Pose inverse compose operator: RES = A (-) B , computing both the mean and the covariance.

Definition at line 220 of file CPosePDFGaussianInf.h.

References mrpt::poses::CPosePDFGaussianInf::inverseComposition().

template<class DERIVEDCLASS >
bool mrpt::poses::operator< ( const CPoint< DERIVEDCLASS > &  a,
const CPoint< DERIVEDCLASS > &  b 
)

Used by STL algorithms.

Definition at line 133 of file CPoint.h.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

std::ostream BASE_IMPEXP& mrpt::poses::operator<< ( std::ostream &  out,
const CPose3DPDFGaussian &  obj 
)

Dumps the mean and covariance matrix to a text stream.

std::ostream BASE_IMPEXP& mrpt::poses::operator<< ( std::ostream &  o,
const CPose2D &  p 
)
std::ostream BASE_IMPEXP& mrpt::poses::operator<< ( std::ostream &  out,
const CPose3DPDFGaussianInf &  obj 
)

Dumps the mean and covariance matrix to a text stream.

template<class DERIVEDCLASS >
std::ostream& mrpt::poses::operator<< ( std::ostream &  o,
const CPoint< DERIVEDCLASS > &  p 
)

Dumps a point as a string [x,y] or [x,y,z].

Definition at line 123 of file CPoint.h.

std::ostream BASE_IMPEXP& mrpt::poses::operator<< ( std::ostream &  o,
const CPose3DQuat &  p 
)
std::ostream BASE_IMPEXP& mrpt::poses::operator<< ( std::ostream &  o,
const CPose3D &  p 
)
std::ostream BASE_IMPEXP& mrpt::poses::operator<< ( std::ostream &  out,
const CPose3DQuatPDFGaussian &  obj 
)

Dumps the mean and covariance matrix to a text stream.

std::ostream BASE_IMPEXP& mrpt::poses::operator<< ( std::ostream &  out,
const CPosePDFGaussian &  obj 
)

Dumps the mean and covariance matrix to a text stream.

std::ostream BASE_IMPEXP& mrpt::poses::operator<< ( std::ostream &  out,
const CPosePDFGaussianInf &  obj 
)

Dumps the mean and covariance matrix to a text stream.

bool BASE_IMPEXP mrpt::poses::operator== ( const CPosePDFGaussianInf &  p1,
const CPosePDFGaussianInf &  p2 
)
template<class DERIVEDCLASS >
bool mrpt::poses::operator== ( const CPoint< DERIVEDCLASS > &  p1,
const CPoint< DERIVEDCLASS > &  p2 
)
bool BASE_IMPEXP mrpt::poses::operator== ( const CPose3DPDFGaussian &  p1,
const CPose3DPDFGaussian &  p2 
)
bool BASE_IMPEXP mrpt::poses::operator== ( const CPose3DPDFGaussianInf &  p1,
const CPose3DPDFGaussianInf &  p2 
)
bool BASE_IMPEXP mrpt::poses::operator== ( const CPose3DQuatPDFGaussian &  p1,
const CPose3DQuatPDFGaussian &  p2 
)
bool BASE_IMPEXP mrpt::poses::operator== ( const CPose2D &  p1,
const CPose2D &  p2 
)
bool BASE_IMPEXP mrpt::poses::operator== ( const CPose3D &  p1,
const CPose3D &  p2 
)
bool BASE_IMPEXP mrpt::poses::operator== ( const CPosePDFGaussian &  p1,
const CPosePDFGaussian &  p2 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPointPDFParticlesPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
TSimple3DPointPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPose3DPDFGaussianPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CNetworkOfPoses3DCovPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPose3DInterpolatorPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPoint3DPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPose3DQuatPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPoint2DPDFGaussianPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPose3DQuatPDFPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPoses2DSequencePtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPointPDFPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CNetworkOfPoses2DPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPose3DPDFPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPointPDFSOGPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPose3DPDFGaussianInfPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CNetworkOfPoses2DCovPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CNetworkOfPoses2DInfPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPointPDFGaussianPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPosePDFPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPosePDFGridPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPoses3DSequencePtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPose2DPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPoint2DPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPosePDFGaussianPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CNetworkOfPoses3DInfPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPose3DPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPose3DPDFSOGPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPose3DQuatPDFGaussianPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPose3DPDFParticlesPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPosePDFParticlesPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPoint2DPDFPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPosePDFGaussianInfPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CPosePDFSOGPtr &  pObj 
)
BASE_IMPEXP ::mrpt::utils::CStream& mrpt::poses::operator>> ( mrpt::utils::CStream in,
CNetworkOfPoses3DPtr &  pObj 
)

Variable Documentation

class BASE_IMPEXP mrpt::poses::CNetworkOfPoses2D

Definition at line 247 of file CNetworkOfPoses.h.

Definition at line 249 of file CNetworkOfPoses.h.

Definition at line 251 of file CNetworkOfPoses.h.

class BASE_IMPEXP mrpt::poses::CNetworkOfPoses3D

Definition at line 248 of file CNetworkOfPoses.h.

Definition at line 250 of file CNetworkOfPoses.h.

Definition at line 252 of file CNetworkOfPoses.h.

class BASE_IMPEXP mrpt::poses::CPoint2D

Definition at line 40 of file CPoint2D.h.

Referenced by mrpt::math::project2D().

class BASE_IMPEXP mrpt::poses::CPoint2DPDF

Definition at line 41 of file CPoint2DPDF.h.

Definition at line 39 of file CPoint2DPDFGaussian.h.

class BASE_IMPEXP mrpt::poses::CPoint3D

Definition at line 38 of file CPoint3D.h.

class BASE_IMPEXP mrpt::poses::CPointPDF

Definition at line 44 of file CPointPDF.h.

class BASE_IMPEXP mrpt::poses::CPointPDFGaussian

Definition at line 40 of file CPointPDFGaussian.h.

Definition at line 64 of file CPointPDFParticles.h.

class BASE_IMPEXP mrpt::poses::CPointPDFSOG

Definition at line 40 of file CPointPDFSOG.h.

class BASE_IMPEXP mrpt::poses::CPose2D
class BASE_IMPEXP mrpt::poses::CPose3D

Definition at line 42 of file CPose3DInterpolator.h.

class BASE_IMPEXP mrpt::poses::CPose3DPDF

Definition at line 45 of file CPose3DPDF.h.

Definition at line 42 of file CPose3DPDFGaussianInf.h.

Definition at line 49 of file CPose3DPDFParticles.h.

class BASE_IMPEXP mrpt::poses::CPose3DPDFSOG

Definition at line 40 of file CPose3DPDFSOG.h.

class BASE_IMPEXP mrpt::poses::CPose3DQuat
class BASE_IMPEXP mrpt::poses::CPose3DQuatPDF

Definition at line 46 of file CPose3DQuatPDF.h.

Definition at line 43 of file CPose3DQuatPDFGaussian.h.

class BASE_IMPEXP mrpt::poses::CPosePDF

Definition at line 45 of file CPosePDF.h.

class BASE_IMPEXP mrpt::poses::CPosePDFGaussian

Definition at line 43 of file CPosePDFGaussian.h.

Definition at line 43 of file CPosePDFGaussianInf.h.

class BASE_IMPEXP mrpt::poses::CPosePDFGrid

Definition at line 41 of file CPosePDFGrid.h.

class BASE_IMPEXP mrpt::poses::CPosePDFParticles

Definition at line 43 of file CPosePDFParticles.h.

class BASE_IMPEXP mrpt::poses::CPosePDFSOG

Definition at line 43 of file CPosePDFSOG.h.

class BASE_IMPEXP mrpt::poses::CPoses2DSequence

Definition at line 40 of file CPoses2DSequence.h.

class BASE_IMPEXP mrpt::poses::CPoses3DSequence

Definition at line 40 of file CPoses3DSequence.h.

struct BASE_IMPEXP mrpt::poses::SE_traits

A helper class for SE(2) and SE(3) geometry-related transformations, on-manifold optimization Jacobians, etc.

See also:
SE_traits<2>, SE_traits<3>, CPose3D, CPose2D

Definition at line 43 of file SE_traits.h.

class BASE_IMPEXP mrpt::poses::TSimple3DPoint

Definition at line 40 of file CPointPDFParticles.h.




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