Main MRPT website > C++ reference
MRPT logo

CPosePDF.h

Go to the documentation of this file.
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 CPOSEPDF_H
00029 #define CPOSEPDF_H
00030 
00031 #include <mrpt/utils/CSerializable.h>
00032 #include <mrpt/poses/CPose2D.h>
00033 #include <mrpt/math/CMatrixTemplateNumeric.h>
00034 #include <mrpt/utils/CProbabilityDensityFunction.h>
00035 #include <mrpt/poses/opengl_frwd_decl.h>
00036 
00037 
00038 namespace mrpt
00039 {
00040 namespace poses
00041 {
00042         using namespace mrpt::math;
00043 
00044         // This must be added to any CSerializable derived class:
00045         DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CPosePDF, mrpt::utils::CSerializable )
00046 
00047         /** Declares a class that represents a probability density function (pdf) of a 2D pose (x,y,phi).
00048          *   This class is just the base class for unifying many diferent ways this pdf can be implemented.
00049          *
00050          *  For convenience, a pose composition is also defined for any pdf derived class,
00051          *   changeCoordinatesReference, in the form of a method rather than an operator.
00052      *
00053          *
00054          *  See also the tutorial on <a href="http://www.mrpt.org/Probability_Density_Distributions_Over_Spatial_Representations">probabilistic spatial representations in the MRPT</a>.
00055          *
00056          * \sa CPose2D, CPose3DPDF, CPoseRandomSampler
00057          */
00058         class BASE_IMPEXP CPosePDF : public mrpt::utils::CSerializable, public mrpt::utils::CProbabilityDensityFunction<CPose2D,3>
00059         {
00060                 DEFINE_VIRTUAL_SERIALIZABLE( CPosePDF )
00061 
00062         public:
00063                  /** Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF)
00064                   */
00065                 MRPT_DECLARE_DEPRECATED_FUNCTION("**deprecated** Use getMean instead",
00066                 CPose2D  getEstimatedPose() const )
00067                 {
00068                         CPose2D p;
00069                         this->getMean(p);
00070                         return p;
00071                 }
00072 
00073                 /** Copy operator, translating if necesary (for example, between particles and gaussian representations)
00074                   */
00075                 virtual void  copyFrom(const CPosePDF &o) = 0;
00076 
00077 
00078                 /** Bayesian fusion of two pose distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!)
00079                   * \param p1 The first distribution to fuse
00080                   * \param p2 The second distribution to fuse
00081                   * \param minMahalanobisDistToDrop If set to different of 0, the result of very separate Gaussian modes (that will result in negligible components) in SOGs will be dropped to reduce the number of modes in the output.
00082                   */
00083                 virtual void  bayesianFusion(const  CPosePDF &p1,const  CPosePDF &p2, const double&minMahalanobisDistToDrop = 0)  = 0 ;
00084 
00085                 /** Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF
00086                   */
00087                 virtual void  inverse(CPosePDF &o) const = 0;
00088 
00089                 enum { is_3D_val = 0 };
00090                 static inline bool is_3D() { return is_3D_val!=0; }
00091                 enum { is_PDF_val = 1 };
00092                 static inline bool is_PDF() { return is_PDF_val!=0; }
00093 
00094                 /** Returns a 3D representation of this PDF.
00095                   * \note Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.
00096                   */
00097                 template <class OPENGL_SETOFOBJECTSPTR>
00098                 inline void getAs3DObject(OPENGL_SETOFOBJECTSPTR &out_obj) const {
00099                         *out_obj = *mrpt::opengl::posePDF2opengl<CPosePDF,OPENGL_SETOFOBJECTSPTR>(*this);
00100                 }
00101 
00102                 /** Returns a 3D representation of this PDF.
00103                   * \note Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.
00104                   */
00105                 template <class OPENGL_SETOFOBJECTSPTR>
00106                 inline OPENGL_SETOFOBJECTSPTR getAs3DObject() const {
00107                         return mrpt::opengl::posePDF2opengl<CPosePDF,OPENGL_SETOFOBJECTSPTR>(*this);
00108                 }
00109 
00110 
00111         }; // End of class def.
00112 
00113 
00114         } // End of namespace
00115 } // End of namespace
00116 
00117 #endif



Page generated by Doxygen 1.7.3 for MRPT 0.9.4 SVN:exported at Tue Jan 25 21:56:31 UTC 2011