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CPose3DQuatPDF.h

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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 CPose3DQuatPDF_H
00029 #define CPose3DQuatPDF_H
00030 
00031 #include <mrpt/poses/CPose3D.h>
00032 #include <mrpt/poses/CPose3DQuat.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                 class CPose3DPDF;
00045 
00046                 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CPose3DQuatPDF, mrpt::utils::CSerializable )
00047 
00048                 /** 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].
00049                  *   This class is just the base class for unifying many diferent 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                  *  - For a similar class for 3D poses  (with Euler angles instead of quaternions), see CPose3DPDF.
00056                  *
00057                  *
00058                  *  See also the tutorial on <a href="http://www.mrpt.org/Probability_Density_Distributions_Over_Spatial_Representations">probabilistic spatial representations in the MRPT</a>.
00059                  *
00060                  * \sa CPose3DQuatPDF, CPose3DPDF
00061                  */
00062                 class BASE_IMPEXP CPose3DQuatPDF :
00063                         public mrpt::utils::CSerializable,
00064                         public mrpt::utils::CProbabilityDensityFunction<CPose3DQuat,7>
00065                 {
00066                         DEFINE_VIRTUAL_SERIALIZABLE( CPose3DQuatPDF )
00067 
00068                  public:
00069                         /** Copy operator, translating if necesary (for example, between particles and gaussian representations)
00070                           * \sa createFrom2D
00071                           */
00072                         virtual void  copyFrom(const CPose3DQuatPDF &o) = 0;
00073 
00074                         /** This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc)
00075                           *  It returns a new object of any of the derived classes of CPose3DQuatPDF. This object must be deleted by the user when not required anymore.
00076                           *  \sa copyFrom
00077                           */
00078                         static CPose3DQuatPDF* createFrom2D(const CPosePDF &o);
00079 
00080                         /** 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)
00081                           */
00082                         virtual void  bayesianFusion(const  CPose3DQuatPDF &p1, const CPose3DQuatPDF &p2 )  = 0 ;
00083 
00084                         /** Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF
00085                           */
00086                         virtual void  inverse(CPose3DQuatPDF &o) const = 0;
00087 
00088                         /** Returns a 3D representation of this PDF.
00089                           * \note Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.
00090                           */
00091                         template <class OPENGL_SETOFOBJECTSPTR>
00092                         inline void getAs3DObject(OPENGL_SETOFOBJECTSPTR &out_obj) const {
00093                                 *out_obj = *mrpt::opengl::posePDF2opengl<CPose3DQuatPDF,OPENGL_SETOFOBJECTSPTR>(*this);
00094                         }
00095 
00096                         /** Returns a 3D representation of this PDF.
00097                           * \note Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.
00098                           */
00099                         template <class OPENGL_SETOFOBJECTSPTR>
00100                         inline OPENGL_SETOFOBJECTSPTR getAs3DObject() const {
00101                                 return mrpt::opengl::posePDF2opengl<CPosePDF,OPENGL_SETOFOBJECTSPTR>(*this);
00102                         }
00103 
00104                 }; // End of class def.
00105 
00106         } // End of namespace
00107 } // End of namespace
00108 
00109 #endif



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