Main MRPT website > C++ reference
MRPT logo
Public Types | Public Member Functions | Static Public Member Functions

mrpt::poses::CPoint2DPDF Class Reference


Detailed Description

Declares a class that represents a Probability Distribution function (PDF) of a 2D point (x,y).

This class is just the base class for unifying many diferent ways this PDF can be implemented.

For convenience, a pose composition is also defined for any PDF derived class, changeCoordinatesReference, in the form of a method rather than an operator.

For a similar class for 6D poses (a 3D point with attitude), see CPose3DPDF

See also the tutorial on probabilistic spatial representations in the MRPT.

See also:
CPoint2D, CPointPDF

Definition at line 56 of file CPoint2DPDF.h.

#include <mrpt/poses/CPoint2DPDF.h>

Inheritance diagram for mrpt::poses::CPoint2DPDF:
Inheritance graph
[legend]

List of all members.

Public Types

enum  { is_3D_val = 0 }
enum  { is_PDF_val = 1 }

Public Member Functions

 MRPT_DECLARE_DEPRECATED_FUNCTION ("**deprecated** Use getMean instead", CPoint2D getEstimatedPoint() const )
 Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF)
virtual void copyFrom (const CPoint2DPDF &o)=0
 Copy operator, translating if necesary (for example, between particles and gaussian representations)
virtual void bayesianFusion (const CPoint2DPDF &p1, const CPoint2DPDF &p2, const double &minMahalanobisDistToDrop=0)=0
 Bayesian fusion of two point 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!)

Static Public Member Functions

static bool is_3D ()
static bool is_PDF ()

RTTI stuff

static const
mrpt::utils::TRuntimeClassId 
classCPoint2DPDF
class mrpt::utils::CStream
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime.

Member Enumeration Documentation

anonymous enum
Enumerator:
is_3D_val 

Definition at line 82 of file CPoint2DPDF.h.

anonymous enum
Enumerator:
is_PDF_val 

Definition at line 84 of file CPoint2DPDF.h.


Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoint2DPDF::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::utils::CSerializable.

Reimplemented in mrpt::poses::CPoint2DPDFGaussian.

virtual void mrpt::poses::CPoint2DPDF::bayesianFusion ( const CPoint2DPDF p1,
const CPoint2DPDF p2,
const double &  minMahalanobisDistToDrop = 0 
) [pure virtual]

Bayesian fusion of two point 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!)

Parameters:
p1The first distribution to fuse
p2The second distribution to fuse
minMahalanobisDistToDropIf 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.

Implemented in mrpt::poses::CPoint2DPDFGaussian.

virtual void mrpt::poses::CPoint2DPDF::copyFrom ( const CPoint2DPDF o) [pure virtual]

Copy operator, translating if necesary (for example, between particles and gaussian representations)

Implemented in mrpt::poses::CPoint2DPDFGaussian.

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoint2DPDF::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

Reimplemented in mrpt::poses::CPoint2DPDFGaussian.

static bool mrpt::poses::CPoint2DPDF::is_3D ( ) [inline, static]

Definition at line 83 of file CPoint2DPDF.h.

static bool mrpt::poses::CPoint2DPDF::is_PDF ( ) [inline, static]

Definition at line 85 of file CPoint2DPDF.h.

mrpt::poses::CPoint2DPDF::MRPT_DECLARE_DEPRECATED_FUNCTION ( "**deprecated** Use getMean instead"  ,
CPoint2D getEstimatedPoint()  const 
) [inline]

Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF)

Definition at line 63 of file CPoint2DPDF.h.


Friends And Related Function Documentation

friend class mrpt::utils::CStream [friend]

Reimplemented from mrpt::utils::CSerializable.

Definition at line 58 of file CPoint2DPDF.h.


Member Data Documentation

Definition at line 58 of file CPoint2DPDF.h.




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