#include <mrpt/poses/CPosePDF.h>
Public Member Functions | |
MRPT_DECLARE_DEPRECATED_FUNCTION ("**deprecated** Use getMean instead", CPose2D getEstimatedPose() const ) | |
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF). | |
virtual void | copyFrom (const CPosePDF &o)=0 |
Copy operator, translating if necesary (for example, between particles and gaussian representations). | |
virtual void | bayesianFusion (CPosePDF &p1, CPosePDF &p2, const double &minMahalanobisDistToDrop=0)=0 |
Bayesian fusion of two pose 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!). | |
virtual void | inverse (CPosePDF &o) const =0 |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF. |
This class is just the base class for unifying many diferent ways this pdf can be implemented.
For convenience, a pose composition is also defined for any pdf derived class, changeCoordinatesReference, in the form of a method rather than an operator.
See also the tutorial on probabilistic spatial representations in the MRPT.
Definition at line 56 of file CPosePDF.h.
virtual void mrpt::poses::CPosePDF::bayesianFusion | ( | CPosePDF & | p1, | |
CPosePDF & | p2, | |||
const double & | minMahalanobisDistToDrop = 0 | |||
) | [pure virtual] |
Bayesian fusion of two pose 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!).
p1 | The first distribution to fuse | |
p2 | The second distribution to fuse | |
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. |
Implemented in mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFGrid, mrpt::poses::CPosePDFParticles, and mrpt::poses::CPosePDFSOG.
virtual void mrpt::poses::CPosePDF::copyFrom | ( | const CPosePDF & | o | ) | [pure virtual] |
Copy operator, translating if necesary (for example, between particles and gaussian representations).
Implemented in mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFGrid, mrpt::poses::CPosePDFParticles, and mrpt::poses::CPosePDFSOG.
virtual void mrpt::poses::CPosePDF::inverse | ( | CPosePDF & | o | ) | const [pure virtual] |
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
Implemented in mrpt::poses::CPosePDFGaussian, mrpt::poses::CPosePDFGrid, mrpt::poses::CPosePDFParticles, and mrpt::poses::CPosePDFSOG.
mrpt::poses::CPosePDF::MRPT_DECLARE_DEPRECATED_FUNCTION | ( | "**deprecated** Use getMean instead" | , | |
CPose2D getEstimatedPose() | const | |||
) | [inline] |
Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
Definition at line 63 of file CPosePDF.h.
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