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mrpt::poses::CPointPDF Class Reference

Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x,y,z). More...

#include <mrpt/poses/CPointPDF.h>

Inheritance diagram for mrpt::poses::CPointPDF:

mrpt::utils::CSerializable mrpt::poses::CPointPDFGaussian mrpt::poses::CPointPDFParticles mrpt::poses::CPointPDFSOG mrpt::slam::CBeacon

List of all members.

Public Member Functions

virtual CPoint3D getEstimatedPoint () const =0
 Returns an estimate of the point, (the mean, or mathematical expectation of the PDF).
virtual CMatrixD getEstimatedCovariance () const =0
 Returns an estimate of the point covariance matrix (3x3 cov.matrix for x,y,z variables).
virtual void copyFrom (const CPointPDF &o)=0
 Copy operator, translating if necesary (for example, between particles and gaussian representations).
virtual void saveToTextFile (const std::string &file) const =0
 Save PDF's particles to a text file.
virtual void changeCoordinatesReference (const CPose3D &newReferenceBase)=0
 This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf.
virtual void drawSingleSample (CPoint3D &outSample) const =0
 Draw a sample from the pdf.
virtual void bayesianFusion (CPointPDF &p1, CPointPDF &p2, const double &minMahalanobisDistToDrop=0)=0
 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!).


Detailed Description

Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x,y,z).

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.

For a similar class for 6D poses (a 3D point with attitude), see CPose3DPDF

See also the tutorial on probabilistic spatial representations in the MRPT.

See also:
CPoint3D

Definition at line 56 of file CPointPDF.h.


Member Function Documentation

virtual void mrpt::poses::CPointPDF::bayesianFusion ( CPointPDF p1,
CPointPDF p2,
const double &  minMahalanobisDistToDrop = 0 
) [pure virtual]

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!).

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::slam::CBeacon, mrpt::poses::CPointPDFGaussian, mrpt::poses::CPointPDFParticles, and mrpt::poses::CPointPDFSOG.

virtual void mrpt::poses::CPointPDF::changeCoordinatesReference ( const CPose3D newReferenceBase  )  [pure virtual]

This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf.

Result PDF substituted the currently stored one in the object.

Implemented in mrpt::slam::CBeacon, mrpt::poses::CPointPDFGaussian, mrpt::poses::CPointPDFParticles, and mrpt::poses::CPointPDFSOG.

virtual void mrpt::poses::CPointPDF::copyFrom ( const CPointPDF o  )  [pure virtual]

Copy operator, translating if necesary (for example, between particles and gaussian representations).

Implemented in mrpt::slam::CBeacon, mrpt::poses::CPointPDFGaussian, mrpt::poses::CPointPDFParticles, and mrpt::poses::CPointPDFSOG.

virtual void mrpt::poses::CPointPDF::drawSingleSample ( CPoint3D outSample  )  const [pure virtual]

virtual CMatrixD mrpt::poses::CPointPDF::getEstimatedCovariance (  )  const [pure virtual]

Returns an estimate of the point covariance matrix (3x3 cov.matrix for x,y,z variables).

Implemented in mrpt::slam::CBeacon, mrpt::poses::CPointPDFGaussian, mrpt::poses::CPointPDFParticles, and mrpt::poses::CPointPDFSOG.

virtual CPoint3D mrpt::poses::CPointPDF::getEstimatedPoint (  )  const [pure virtual]

Returns an estimate of the point, (the mean, or mathematical expectation of the PDF).

Implemented in mrpt::slam::CBeacon, mrpt::poses::CPointPDFGaussian, mrpt::poses::CPointPDFParticles, and mrpt::poses::CPointPDFSOG.

virtual void mrpt::poses::CPointPDF::saveToTextFile ( const std::string &  file  )  const [pure virtual]

Save PDF's particles to a text file.

See derived classes for more information about the format of generated files.

Implemented in mrpt::slam::CBeacon, mrpt::poses::CPointPDFGaussian, mrpt::poses::CPointPDFParticles, and mrpt::poses::CPointPDFSOG.




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