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CPose3DPDF.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 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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