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CPoint2DPDF.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 CPoint2DPDF_H
00029 #define CPoint2DPDF_H
00030 
00031 #include <mrpt/utils/CSerializable.h>
00032 #include <mrpt/utils/CProbabilityDensityFunction.h>
00033 #include <mrpt/poses/CPoint2D.h>
00034 
00035 namespace mrpt
00036 {
00037 namespace poses
00038 {
00039         using namespace mrpt::math;
00040 
00041         DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CPoint2DPDF, mrpt::utils::CSerializable )
00042 
00043         /** Declares a class that represents a Probability Distribution function (PDF) of a 2D point (x,y).
00044          *   This class is just the base class for unifying many diferent
00045          *    ways this PDF can be implemented.
00046          *
00047          *  For convenience, a pose composition is also defined for any
00048          *    PDF derived class, changeCoordinatesReference, in the form of a method rather than an operator.
00049      *
00050          *  For a similar class for 6D poses (a 3D point with attitude), see CPose3DPDF
00051          *
00052          *  See also the tutorial on <a href="http://www.mrpt.org/Probability_Density_Distributions_Over_Spatial_Representations">probabilistic spatial representations in the MRPT</a>.
00053          *
00054          * \sa CPoint2D, CPointPDF
00055          */
00056         class BASE_IMPEXP CPoint2DPDF : public mrpt::utils::CSerializable, public mrpt::utils::CProbabilityDensityFunction<CPoint2D,2>
00057         {
00058                 DEFINE_VIRTUAL_SERIALIZABLE( CPoint2DPDF )
00059 
00060          public:
00061                  /** Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF)
00062                   */
00063                 MRPT_DECLARE_DEPRECATED_FUNCTION("**deprecated** Use getMean instead",
00064                 CPoint2D  getEstimatedPoint() const )
00065                 {
00066                         CPoint2D p;
00067                         this->getMean(p);
00068                         return p;
00069                 }
00070 
00071                 /** Copy operator, translating if necesary (for example, between particles and gaussian representations)
00072                   */
00073                 virtual void  copyFrom(const CPoint2DPDF &o) = 0;
00074 
00075                 /** 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!)
00076                   * \param p1 The first distribution to fuse
00077                   * \param p2 The second distribution to fuse
00078                   * \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.
00079                   */
00080                 virtual void  bayesianFusion( const CPoint2DPDF &p1, const CPoint2DPDF &p2, const double &minMahalanobisDistToDrop = 0)  = 0 ;
00081 
00082                 enum { is_3D_val = 0 };
00083                 static inline bool is_3D() { return is_3D_val!=0; }
00084                 enum { is_PDF_val = 1 };
00085                 static inline bool is_PDF() { return is_PDF_val!=0; }
00086 
00087         }; // End of class def.
00088 
00089 
00090         } // End of namespace
00091 } // End of namespace
00092 
00093 #endif



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