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<div class="title">CPose3DPDF.h</div> </div>
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<a href="_c_pose3_d_p_d_f_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</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="preprocessor">#ifndef CPose3DPDF_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CPose3DPDF_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_serializable_8h.html">mrpt/utils/CSerializable.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_8h.html">mrpt/poses/CPose3D.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_matrix_d_8h.html">mrpt/math/CMatrixD.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_probability_density_function_8h.html">mrpt/utils/CProbabilityDensityFunction.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="keyword">namespace </span>mrpt
<a name="l00037"></a>00037 {
<a name="l00038"></a>00038 <span class="keyword">namespace </span>poses
<a name="l00039"></a>00039 {
<a name="l00040"></a>00040 <span class="keyword">using namespace </span>mrpt::math;
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="keyword">class </span>CPosePDF;
<a name="l00043"></a>00043
<a name="l00044"></a><a class="code" href="structmrpt_1_1poses_1_1_c_pose3_d_p_d_f_ptr.html#abcd4d0b405fc4663ae7f8050c2757d52">00044</a> <a class="code" href="_c_serializable_8h.html#ab89b7a3de0a1baf5a5af4454add7d0f8" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE</a>( <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">CPose3DPDF</a>, <a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">mrpt::utils::CSerializable</a> )
<a name="l00045"></a>00045
<a name="l00046"></a>00046 <span class="comment">/** Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually).</span>
<a name="l00047"></a>00047 <span class="comment"> * This class is just the base class for unifying many diferent</span>
<a name="l00048"></a>00048 <span class="comment"> * ways this PDF can be implemented.</span>
<a name="l00049"></a>00049 <span class="comment"> *</span>
<a name="l00050"></a>00050 <span class="comment"> * For convenience, a pose composition is also defined for any</span>
<a name="l00051"></a>00051 <span class="comment"> * PDF derived class, changeCoordinatesReference, in the form of a method rather than an operator.</span>
<a name="l00052"></a>00052 <span class="comment"> *</span>
<a name="l00053"></a>00053 <span class="comment"> * For a similar class for 3D points (without attitude), see CPointPDF</span>
<a name="l00054"></a>00054 <span class="comment"> *</span>
<a name="l00055"></a>00055 <span class="comment"> *</span>
<a name="l00056"></a>00056 <span class="comment"> * See also the tutorial on <a href="http://www.mrpt.org/Probability_Density_Distributions_Over_Spatial_Representations">probabilistic spatial representations in the MRPT</a>.</span>
<a name="l00057"></a>00057 <span class="comment"> *</span>
<a name="l00058"></a>00058 <span class="comment"> * \sa CPose3D, CPosePDF, CPointPDF</span>
<a name="l00059"></a>00059 <span class="comment"> * \ingroup poses_pdf_grp</span>
<a name="l00060"></a>00060 <span class="comment"> */</span>
<a name="l00061"></a>00061 class <a class="code" href="base_2include_2mrpt_2base_2link__pragmas_8h.html#a6045fa0129b1a3d6c8bf895470e66574">BASE_IMPEXP</a> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">CPose3DPDF</a> : public mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">CSerializable</a>, public mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_probability_density_function.html" title="A generic template for probability density distributions (PDFs).">CProbabilityDensityFunction</a><<a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a>,6>
<a name="l00062"></a>00062 {
<a name="l00063"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">00063</a> <a class="code" href="_c_serializable_8h.html#a5876f72cf51bfb66a82bf81cc493febc" title="This declaration must be inserted in virtual CSerializable classes definition:">DEFINE_VIRTUAL_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">CPose3DPDF</a> )
<a name="l00064"></a>00064
<a name="l00065"></a>00065 public:<span class="comment"></span>
<a name="l00066"></a>00066 <span class="comment"> /** Copy operator, translating if necesary (for example, between particles and gaussian representations)</span>
<a name="l00067"></a>00067 <span class="comment"> * \sa createFrom2D</span>
<a name="l00068"></a>00068 <span class="comment"> */</span>
<a name="l00069"></a>00069 virtual <span class="keywordtype">void</span> copyFrom(const <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">CPose3DPDF</a> &o) = 0;
<a name="l00070"></a>00070 <span class="comment"></span>
<a name="l00071"></a>00071 <span class="comment"> /** This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc)</span>
<a name="l00072"></a>00072 <span class="comment"> * It returns a new object of any of the derived classes of CPose3DPDF. This object must be deleted by the user when not required anymore.</span>
<a name="l00073"></a>00073 <span class="comment"> * \sa copyFrom</span>
<a name="l00074"></a>00074 <span class="comment"> */</span>
<a name="l00075"></a>00075 static <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">CPose3DPDF</a>* createFrom2D(const <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html" title="Declares a class that represents a probability density function (pdf) of a 2D pose (x...">CPosePDF</a> &o);
<a name="l00076"></a>00076 <span class="comment"></span>
<a name="l00077"></a>00077 <span class="comment"> /** Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently only distributions of the same class can be fused! eg, gaussian with gaussian,etc)</span>
<a name="l00078"></a>00078 <span class="comment"> */</span>
<a name="l00079"></a>00079 virtual <span class="keywordtype">void</span> bayesianFusion( const <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">CPose3DPDF</a> &p1, const <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">CPose3DPDF</a> &p2 ) = 0 ;
<a name="l00080"></a>00080 <span class="comment"></span>
<a name="l00081"></a>00081 <span class="comment"> /** Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF</span>
<a name="l00082"></a>00082 <span class="comment"> */</span>
<a name="l00083"></a>00083 virtual <span class="keywordtype">void</span> inverse(<a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html" title="Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually)...">CPose3DPDF</a> &o) const = 0;
<a name="l00084"></a>00084
<a name="l00085"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html#aa55d80e51508a26082f1880cbc873952a6ed9ca1ca001de1c19a616b6ca63bb4f">00085</a> enum { is_3D_val = 1 };
<a name="l00086"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html#ab8a25fc7620ad6983ef458b0ddcf845f">00086</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html#ab8a25fc7620ad6983ef458b0ddcf845f">is_3D</a>() { <span class="keywordflow">return</span> is_3D_val!=0; }
<a name="l00087"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html#adad44d7dc823816bce27305dd7a34597a85fb35f986ff00995b6c630a9fc580de">00087</a> <span class="keyword">enum</span> { is_PDF_val = 1 };
<a name="l00088"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html#a599938cf84c080779703219b58a2a62d">00088</a> <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html#a599938cf84c080779703219b58a2a62d">is_PDF</a>() { <span class="keywordflow">return</span> is_PDF_val!=0; }
<a name="l00089"></a>00089 <span class="comment"></span>
<a name="l00090"></a>00090 <span class="comment"> /** Returns a 3D representation of this PDF.</span>
<a name="l00091"></a>00091 <span class="comment"> * \note Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.</span>
<a name="l00092"></a>00092 <span class="comment"> */</span>
<a name="l00093"></a>00093 <span class="keyword">template</span> <<span class="keyword">class</span> OPENGL_SETOFOBJECTSPTR>
<a name="l00094"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html#a63b11435e6a63f018ac354ef32ffc3f4">00094</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html#a63b11435e6a63f018ac354ef32ffc3f4" title="Returns a 3D representation of this PDF.">getAs3DObject</a>(OPENGL_SETOFOBJECTSPTR &out_obj)<span class="keyword"> const </span>{
<a name="l00095"></a>00095 <span class="keyword">typedef</span> <span class="keyword">typename</span> OPENGL_SETOFOBJECTSPTR<a class="code" href="eigen__plugins_8h.html#afd07186978da46f9908364e389f8a403" title="Type of the elements.">::value_type</a> SETOFOBJECTS;
<a name="l00096"></a>00096 *out_obj = *<a class="code" href="namespacemrpt_1_1opengl.html#ada69d2b8f7e376cc386d8b7a0be29b34" title="Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call...">SETOFOBJECTS::posePDF2opengl</a>(*<span class="keyword">this</span>);
<a name="l00097"></a>00097 }
<a name="l00098"></a>00098 <span class="comment"></span>
<a name="l00099"></a>00099 <span class="comment"> /** Returns a 3D representation of this PDF.</span>
<a name="l00100"></a>00100 <span class="comment"> * \note Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.</span>
<a name="l00101"></a>00101 <span class="comment"> */</span>
<a name="l00102"></a>00102 <span class="keyword">template</span> <<span class="keyword">class</span> OPENGL_SETOFOBJECTSPTR>
<a name="l00103"></a><a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html#a999dc69f3d774b6974c93ea9ace3c482">00103</a> <span class="keyword">inline</span> OPENGL_SETOFOBJECTSPTR <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html#a999dc69f3d774b6974c93ea9ace3c482" title="Returns a 3D representation of this PDF.">getAs3DObject</a>()<span class="keyword"> const </span>{
<a name="l00104"></a>00104 <span class="keyword">typedef</span> <span class="keyword">typename</span> OPENGL_SETOFOBJECTSPTR<a class="code" href="eigen__plugins_8h.html#afd07186978da46f9908364e389f8a403" title="Type of the elements.">::value_type</a> SETOFOBJECTS;
<a name="l00105"></a>00105 <span class="keywordflow">return</span> <a class="code" href="namespacemrpt_1_1opengl.html#ada69d2b8f7e376cc386d8b7a0be29b34" title="Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call...">SETOFOBJECTS::posePDF2opengl</a>(*<span class="keyword">this</span>);
<a name="l00106"></a>00106 }
<a name="l00107"></a>00107
<a name="l00108"></a>00108 }; <span class="comment">// End of class def.</span>
<a name="l00109"></a>00109
<a name="l00110"></a>00110
<a name="l00111"></a>00111 } <span class="comment">// End of namespace</span>
<a name="l00112"></a>00112 } <span class="comment">// End of namespace</span>
<a name="l00113"></a>00113
<a name="l00114"></a>00114 <span class="preprocessor">#endif</span>
</pre></div></div>
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