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<div class="title">lib_mrpt_base.h</div> </div>
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<a href="lib__mrpt__base_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/** \defgroup mrpt_base_grp [mrpt-base]</span>
<a name="l00002"></a>00002 <span class="comment"></span>
<a name="l00003"></a>00003 <span class="comment"><small> <a href="index.html#libs">Back to list of all libraries</a> | <a href="modules.html" >See all modules</a> </small></span>
<a name="l00004"></a>00004 <span class="comment"><br></span>
<a name="l00005"></a>00005 <span class="comment"></span>
<a name="l00006"></a>00006 <span class="comment"><h2>Library <code>mrpt-base</code></h2></span>
<a name="l00007"></a>00007 <span class="comment"><hr></span>
<a name="l00008"></a>00008 <span class="comment"></span>
<a name="l00009"></a>00009 <span class="comment">This is the most fundamental library in MRPT, since it provides a vast amount of utilities and OS-abstraction classes upon which</span>
<a name="l00010"></a>00010 <span class="comment">the rest of MRPT is built. Here resides critical functionality such as mathematics, linear algebra, serialization, smart pointers</span>
<a name="l00011"></a>00011 <span class="comment">and multi-threading.</span>
<a name="l00012"></a>00012 <span class="comment">l</span>
<a name="l00013"></a>00013 <span class="comment">This library comprises classes in a number of namespaces, briefly described below (click on the namespaces names to see the</span>
<a name="l00014"></a>00014 <span class="comment">complete list of its classes):</span>
<a name="l00015"></a>00015 <span class="comment"></span>
<a name="l00016"></a>00016 <span class="comment"></span>
<a name="l00017"></a>00017 <span class="comment"><h3>mrpt::poses</h3></span>
<a name="l00018"></a>00018 <span class="comment"></span>
<a name="l00019"></a>00019 <span class="comment">A comprehensive collection of geometry-related classes to represent all kind of 2D and 3D geomtry transformations in different formats</span>
<a name="l00020"></a>00020 <span class="comment">(Euler angles, rotation matrices, quaternions), as well as networks of pose constrains (as used typically in SLAM problems).</span>
<a name="l00021"></a>00021 <span class="comment"></span>
<a name="l00022"></a>00022 <span class="comment">There are also implemented representations for probability distributions over all of these transformations, in a generic way that</span>
<a name="l00023"></a>00023 <span class="comment">allow mono and multi-modal Gaussians and particle-based representations.</span>
<a name="l00024"></a>00024 <span class="comment"></span>
<a name="l00025"></a>00025 <span class="comment">See mrpt::poses for the complete list of classes here.</span>
<a name="l00026"></a>00026 <span class="comment"></span>
<a name="l00027"></a>00027 <span class="comment"></span>
<a name="l00028"></a>00028 <span class="comment"><h3>mrpt::utils</h3></span>
<a name="l00029"></a>00029 <span class="comment"></span>
<a name="l00030"></a>00030 <span class="comment"><ul></span>
<a name="l00031"></a>00031 <span class="comment"><li><b>RTTI (RunTime Type Information):</b> A cross-platform, compiler-independent RTTI system is built around the base class</span>
<a name="l00032"></a>00032 <span class="comment">mrpt::utils::CObject.</li></span>
<a name="l00033"></a>00033 <span class="comment"></span>
<a name="l00034"></a>00034 <span class="comment"><li><b>Smart pointers:</b> Based on the STLplus library, any class CFoo inheriting from CObject, automatically has an associated smart</span>
<a name="l00035"></a>00035 <span class="comment">pointer class CFooPtr. MRPT implements advanced smart pointers capable of multi-thread safe usage and smart pointer typecasting with</span>
<a name="l00036"></a>00036 <span class="comment">runtime check for correct castings (<a href="http://www.mrpt.org/Smart_pointers" >tutorial</a>).</li></span>
<a name="l00037"></a>00037 <span class="comment"></span>
<a name="l00038"></a>00038 <span class="comment"><li><b>Image handling:</b> The class mrpt::utils::CImage represents a wrapper around OpenCV IplImage's, plus extra functionality</span>
<a name="l00039"></a>00039 <span class="comment">such as on-the-fly loading of images stored in disk upon first usage. The internal IplImage is always available so OpenCV's functions can</span>
<a name="l00040"></a>00040 <span class="comment">be still used to operate on MRPT images. </li></span>
<a name="l00041"></a>00041 <span class="comment"></span>
<a name="l00042"></a>00042 <span class="comment"><li><b>Serialization/Persistence:</b> Object serialization in a simple but powerful (including versioning) format</span>
<a name="l00043"></a>00043 <span class="comment">is supported by dozens of MRPT classes, all based on mrpt::utils::CSerializable. </li></span>
<a name="l00044"></a>00044 <span class="comment"></span>
<a name="l00045"></a>00045 <span class="comment"><li><b>Streams:</b> Stream classes (see the base mrpt::utils::CStream) allow serialization of MRPT objects. There are classes</span>
<a name="l00046"></a>00046 <span class="comment">for tranparent GZ-compressed files, sockets, serial ports, etc. </li></span>
<a name="l00047"></a>00047 <span class="comment"></span>
<a name="l00048"></a>00048 <span class="comment"><li><b>XML-based databases:</b> Simple databases can be mantained, loaded and saved to files with mrpt::utils::CSimpleDatabase. </li></span>
<a name="l00049"></a>00049 <span class="comment"></span>
<a name="l00050"></a>00050 <span class="comment"><li><b>Name-based argument passing:</b> See the structure mrpt::utils::TParameters </li></span>
<a name="l00051"></a>00051 <span class="comment"></span>
<a name="l00052"></a>00052 <span class="comment"><li><b>Configuration files:</b> There is one base virtual class (mrpt::utils::CConfigFileBase) which can be used to read/write configuration</span>
<a name="l00053"></a>00053 <span class="comment">files (including basic types, vectors, matrices,...) from any "configuration source" transparently (an actual configuration file, a text block</span>
<a name="l00054"></a>00054 <span class="comment">created on the fly, etc.). </li></span>
<a name="l00055"></a>00055 <span class="comment"></span>
<a name="l00056"></a>00056 <span class="comment"></span>
<a name="l00057"></a>00057 <span class="comment"></ul></span>
<a name="l00058"></a>00058 <span class="comment"></span>
<a name="l00059"></a>00059 <span class="comment"><h3>mrpt::math</h3></span>
<a name="l00060"></a>00060 <span class="comment"></span>
<a name="l00061"></a>00061 <span class="comment">MRPT defines a number of generic <i> math containers</i>, which are:</span>
<a name="l00062"></a>00062 <span class="comment"></span>
<a name="l00063"></a>00063 <span class="comment"><ul></span>
<a name="l00064"></a>00064 <span class="comment"><li><b>Matrices:</b> Dynamic-size matrices (see mrpt::math::CMatrixDouble) and compile-time fixed-size matrices (see mrpt::math::CMatrixFixedNumeric, mrpt::math::CMatrixDouble33, etc.). </li></span>
<a name="l00065"></a>00065 <span class="comment"><li><b>Vectors:</b> Dynamic-size vectors. See mrpt::vector_double, which inherits from a standard STL vector<double>. </li></span>
<a name="l00066"></a>00066 <span class="comment"><li><b>Arrays:</b> Fixed-size vectors, just like plain C arrays but with support for STL-like iterators and much more. See mrpt::math::CArrayDouble<>. </li></span>
<a name="l00067"></a>00067 <span class="comment"></ul></span>
<a name="l00068"></a>00068 <span class="comment"></span>
<a name="l00069"></a>00069 <span class="comment">For a more in-depth description of these types, and their relation to the base Eigen classes,</span>
<a name="l00070"></a>00070 <span class="comment">read <a href="http://www.mrpt.org/Matrices_vectors_arrays_and_Linear_Algebra_MRPT_and_Eigen_classes" >this page</a>.</span>
<a name="l00071"></a>00071 <span class="comment"></span>
<a name="l00072"></a>00072 <span class="comment">Notice that fixed-size containers should be preferred where possible, since they allow more compile-time optimizations.</span>
<a name="l00073"></a>00073 <span class="comment"></span>
<a name="l00074"></a>00074 <span class="comment">Apart from the containers, this namespace contains much more functionality:</span>
<a name="l00075"></a>00075 <span class="comment"></span>
<a name="l00076"></a>00076 <span class="comment"><ul></span>
<a name="l00077"></a>00077 <span class="comment"><li>A templatized RANSAC algorithm. </li></span>
<a name="l00078"></a>00078 <span class="comment"><li>Probability distribution functions. </li></span>
<a name="l00079"></a>00079 <span class="comment"><li>Statistics: mean, covariance, covariance of weighted samples, etc... from sets of data.</li></span>
<a name="l00080"></a>00080 <span class="comment"><li>A huge amount of geometry-related functions: Lines (mrpt::math::TLine3D), planes (mrpt::math::TPlane3D), segments, polygons, intersections between them, etc. </li></span>
<a name="l00081"></a>00081 <span class="comment"><li>Graph-related stuff: generic directed graphs (mrpt::math::CDirectedGraph) and trees (mrpt::math::CDirectedTree).</li></span>
<a name="l00082"></a>00082 <span class="comment"><li>PDF transformations (uncertainty propagation): See mrpt::math::transform_gaussian_linear, mrpt::math::transform_gaussian_montecarlo, mrpt::math::transform_gaussian_unscented.</li></span>
<a name="l00083"></a>00083 <span class="comment"></ul></span>
<a name="l00084"></a>00084 <span class="comment"></span>
<a name="l00085"></a>00085 <span class="comment"></span>
<a name="l00086"></a>00086 <span class="comment"></span>
<a name="l00087"></a>00087 <span class="comment"><h3>mrpt::synch</h3></span>
<a name="l00088"></a>00088 <span class="comment"></span>
<a name="l00089"></a>00089 <span class="comment">This namespace includes threading tools such as critical sections, semaphores or utilities such as the template mrpt::synch::CThreadSafeVariable</span>
<a name="l00090"></a>00090 <span class="comment">that converts any variable into a pair variable-critical section.</span>
<a name="l00091"></a>00091 <span class="comment"></span>
<a name="l00092"></a>00092 <span class="comment"></span>
<a name="l00093"></a>00093 <span class="comment"><h3>mrpt::system</h3></span>
<a name="l00094"></a>00094 <span class="comment"></span>
<a name="l00095"></a>00095 <span class="comment">Here can be found functions for filesystem managing, watching directories, creating and handling threads in an OS-independent way, etc.</span>
<a name="l00096"></a>00096 <span class="comment"></span>
<a name="l00097"></a>00097 <span class="comment"></span>
<a name="l00098"></a>00098 <span class="comment"><h3>mrpt::compress</h3></span>
<a name="l00099"></a>00099 <span class="comment"></span>
<a name="l00100"></a>00100 <span class="comment">GZip compression methods can be found in this namespace.</span>
<a name="l00101"></a>00101 <span class="comment"></span>
<a name="l00102"></a>00102 <span class="comment"></span>
<a name="l00103"></a>00103 <span class="comment">*/</span>
<a name="l00104"></a>00104
</pre></div></div>
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