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 CPOSEPDF_H 00029 #define CPOSEPDF_H 00030 00031 #include <mrpt/utils/CSerializable.h> 00032 #include <mrpt/poses/CPose2D.h> 00033 #include <mrpt/math/CMatrixTemplateNumeric.h> 00034 #include <mrpt/utils/CProbabilityDensityFunction.h> 00035 00036 namespace mrpt 00037 { 00038 namespace poses 00039 { 00040 using namespace mrpt::math; 00041 00042 // This must be added to any CSerializable derived class: 00043 DEFINE_SERIALIZABLE_PRE( CPosePDF ) 00044 00045 /** Declares a class that represents a probability density function (pdf) of a 2D pose (x,y,phi). 00046 * This class is just the base class for unifying many diferent ways this pdf can be implemented. 00047 * 00048 * For convenience, a pose composition is also defined for any pdf derived class, 00049 * changeCoordinatesReference, in the form of a method rather than an operator. 00050 * 00051 * 00052 * See also the tutorial on <a href="http://babel.isa.uma.es/mrpt/index.php/Probability_Density_Distributions_Over_Spatial_Representations">probabilistic spatial representations in the MRPT</a>. 00053 * 00054 * \sa CPose2D, CPose3DPDF, CPoseRandomSampler 00055 */ 00056 class MRPTDLLIMPEXP CPosePDF : public mrpt::utils::CSerializable, public mrpt::utils::CProbabilityDensityFunction<CPose2D,3> 00057 { 00058 DEFINE_VIRTUAL_SERIALIZABLE( CPosePDF ) 00059 00060 public: 00061 /** Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF) 00062 */ 00063 MRPT_DECLARE_DEPRECATED_FUNCTION("**deprecated** Use getMean instead", 00064 CPose2D getEstimatedPose() const ) 00065 { 00066 CPose2D p; 00067 this->getMean(p); 00068 return p; 00069 } 00070 00071 /** Copy operator, translating if necesary (for example, between particles and gaussian representations) 00072 */ 00073 virtual void copyFrom(const CPosePDF &o) = 0; 00074 00075 00076 /** 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!) 00077 * \param p1 The first distribution to fuse 00078 * \param p2 The second distribution to fuse 00079 * \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. 00080 */ 00081 virtual void bayesianFusion( CPosePDF &p1, CPosePDF &p2, const double&minMahalanobisDistToDrop = 0) = 0 ; 00082 00083 /** Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF 00084 */ 00085 virtual void inverse(CPosePDF &o) const = 0; 00086 00087 00088 }; // End of class def. 00089 00090 00091 } // End of namespace 00092 } // End of namespace 00093 00094 #endif
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