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mrpt::poses::CPosePDF Class Reference

Declares a class that represents a probability density function (pdf) of a 2D pose (x,y,phi). More...

#include <mrpt/poses/CPosePDF.h>

Inheritance diagram for mrpt::poses::CPosePDF:

mrpt::utils::CSerializable mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN > mrpt::poses::CPosePDFGaussian mrpt::poses::CPosePDFGrid mrpt::poses::CPosePDFParticles mrpt::poses::CPosePDFSOG

List of all members.

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.


Detailed Description

Declares a class that represents a probability density function (pdf) of a 2D pose (x,y,phi).

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.

See also:
CPose2D, CPose3DPDF, CPoseRandomSampler

Definition at line 56 of file CPosePDF.h.


Member Function Documentation

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!).

Parameters:
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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