00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 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/poses/CPoint3D.h> 00033 00034 namespace mrpt 00035 { 00036 namespace poses 00037 { 00038 using namespace mrpt::math; 00039 00040 DEFINE_SERIALIZABLE_PRE( CPointPDF ) 00041 00042 00056 class MRPTDLLIMPEXP CPointPDF : public mrpt::utils::CSerializable 00057 { 00058 DEFINE_VIRTUAL_SERIALIZABLE( CPointPDF ) 00059 00060 public: 00063 virtual CPoint3D getEstimatedPoint() const = 0 ; 00064 00067 virtual CMatrixD getEstimatedCovariance() const = 0 ; 00068 00071 virtual void copyFrom(const CPointPDF &o) = 0; 00072 00075 virtual void saveToTextFile(const std::string &file) const = 0; 00076 00080 virtual void changeCoordinatesReference( const CPose3D &newReferenceBase ) = 0; 00081 00084 virtual void drawSingleSample(CPoint3D &outSample) const = 0; 00085 00091 virtual void bayesianFusion( CPointPDF &p1, CPointPDF &p2, const double &minMahalanobisDistToDrop = 0) = 0 ; 00092 00093 }; // End of class def. 00094 00095 00096 } // End of namespace 00097 } // End of namespace 00098 00099 #endif
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