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/utils/CProbabilityDensityFunction.h> 00033 #include <mrpt/poses/CPoint3D.h> 00034 00035 namespace mrpt 00036 { 00037 namespace poses 00038 { 00039 using namespace mrpt::math; 00040 00041 DEFINE_SERIALIZABLE_PRE( CPointPDF ) 00042 00043 /** Declares a class that represents a Probability Distribution 00044 * function (PDF) of a 3D point (x,y,z). 00045 * This class is just the base class for unifying many diferent 00046 * ways this PDF can be implemented. 00047 * 00048 * For convenience, a pose composition is also defined for any 00049 * PDF derived class, changeCoordinatesReference, in the form of a method rather than an operator. 00050 * 00051 * For a similar class for 6D poses (a 3D point with attitude), see CPose3DPDF 00052 * 00053 * 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>. 00054 * 00055 * \sa CPoint3D 00056 */ 00057 class MRPTDLLIMPEXP CPointPDF : public mrpt::utils::CSerializable, public mrpt::utils::CProbabilityDensityFunction<CPoint3D,3> 00058 { 00059 DEFINE_VIRTUAL_SERIALIZABLE( CPointPDF ) 00060 00061 public: 00062 /** Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF) 00063 */ 00064 MRPT_DECLARE_DEPRECATED_FUNCTION("**deprecated** Use getMean instead", 00065 CPoint3D getEstimatedPoint() const ) 00066 { 00067 CPoint3D p; 00068 this->getMean(p); 00069 return p; 00070 } 00071 00072 /** Copy operator, translating if necesary (for example, between particles and gaussian representations) 00073 */ 00074 virtual void copyFrom(const CPointPDF &o) = 0; 00075 00076 00077 /** Bayesian fusion of two point 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!) 00078 * \param p1 The first distribution to fuse 00079 * \param p2 The second distribution to fuse 00080 * \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. 00081 */ 00082 virtual void bayesianFusion( CPointPDF &p1, CPointPDF &p2, const double &minMahalanobisDistToDrop = 0) = 0 ; 00083 00084 }; // End of class def. 00085 00086 00087 } // End of namespace 00088 } // End of namespace 00089 00090 #endif
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