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CPointPDF.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 CPointPDF_H
00029 #define CPointPDF_H
00030 
00031 #include <mrpt/utils/CSerializable.h>
00032 #include <mrpt/utils/CProbabilityDensityFunction.h>
00033 #include <mrpt/poses/CPoint3D.h>
00034 #include <mrpt/poses/opengl_frwd_decl.h>
00035 
00036 namespace mrpt
00037 {
00038 namespace poses
00039 {
00040         using namespace mrpt::math;
00041 
00042 
00043 
00044         DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CPointPDF, mrpt::utils::CSerializable )
00045 
00046         /** Declares a class that represents a Probability Distribution
00047          *    function (PDF) of a 3D point (x,y,z).
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 6D poses (a 3D point with attitude), see CPose3DPDF
00055          *
00056          *  See also the tutorial on <a href="http://www.mrpt.org/Probability_Density_Distributions_Over_Spatial_Representations">probabilistic spatial representations in the MRPT</a>.
00057          *
00058          * \sa CPoint3D
00059          */
00060         class BASE_IMPEXP CPointPDF : public mrpt::utils::CSerializable, public mrpt::utils::CProbabilityDensityFunction<CPoint3D,3>
00061         {
00062                 DEFINE_VIRTUAL_SERIALIZABLE( CPointPDF )
00063 
00064          public:
00065                  /** Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF)
00066                   */
00067                 MRPT_DECLARE_DEPRECATED_FUNCTION("**deprecated** Use getMean instead",
00068                         CPoint3D  getEstimatedPoint() const )
00069                 {
00070                         CPoint3D p;
00071                         this->getMean(p);
00072                         return p;
00073                 }
00074 
00075                 /** Copy operator, translating if necesary (for example, between particles and gaussian representations)
00076                   */
00077                 virtual void  copyFrom(const CPointPDF &o) = 0;
00078 
00079 
00080                 /** 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!)
00081                   * \param p1 The first distribution to fuse
00082                   * \param p2 The second distribution to fuse
00083                   * \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.
00084                   */
00085                 virtual void  bayesianFusion( const CPointPDF &p1, const CPointPDF &p2, const double &minMahalanobisDistToDrop = 0)  = 0 ;
00086 
00087                 enum { is_3D_val = 1 };
00088                 static inline bool is_3D() { return is_3D_val!=0; }
00089                 enum { is_PDF_val = 1 };
00090                 static inline bool is_PDF() { return is_PDF_val!=0; }
00091 
00092                 /** Returns a 3D representation of this PDF.
00093                   * \note Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.
00094                   */
00095                 template <class OPENGL_SETOFOBJECTSPTR>
00096                 inline void getAs3DObject(OPENGL_SETOFOBJECTSPTR &out_obj) const {
00097                         *out_obj = *mrpt::opengl::posePDF2opengl<CPointPDF,OPENGL_SETOFOBJECTSPTR>(*this);
00098                 }
00099 
00100                 /** Returns a 3D representation of this PDF.
00101                   * \note Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.
00102                   */
00103                 template <class OPENGL_SETOFOBJECTSPTR>
00104                 inline OPENGL_SETOFOBJECTSPTR getAs3DObject() const {
00105                         return mrpt::opengl::posePDF2opengl<CPosePDF,OPENGL_SETOFOBJECTSPTR>(*this);
00106                 }
00107 
00108         }; // End of class def.
00109 
00110 
00111         } // End of namespace
00112 } // End of namespace
00113 
00114 #endif



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