00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2011 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 #include <mrpt/poses/opengl_frwd_decl.h> 00035 00036 namespace mrpt 00037 { 00038 namespace poses 00039 { 00040 using namespace mrpt::math; 00041 00042 00043 00044 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CPointPDF, mrpt::utils::CSerializable ) 00045 00046 /** Declares a class that represents a Probability Distribution 00047 * function (PDF) of a 3D point (x,y,z). 00048 * This class is just the base class for unifying many diferent 00049 * ways this PDF can be implemented. 00050 * 00051 * For convenience, a pose composition is also defined for any 00052 * PDF derived class, changeCoordinatesReference, in the form of a method rather than an operator. 00053 * 00054 * For a similar class for 6D poses (a 3D point with attitude), see CPose3DPDF 00055 * 00056 * See also the tutorial on <a href="http://www.mrpt.org/Probability_Density_Distributions_Over_Spatial_Representations">probabilistic spatial representations in the MRPT</a>. 00057 * 00058 * \sa CPoint3D 00059 */ 00060 class BASE_IMPEXP CPointPDF : public mrpt::utils::CSerializable, public mrpt::utils::CProbabilityDensityFunction<CPoint3D,3> 00061 { 00062 DEFINE_VIRTUAL_SERIALIZABLE( CPointPDF ) 00063 00064 public: 00065 /** Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF) 00066 */ 00067 MRPT_DECLARE_DEPRECATED_FUNCTION("**deprecated** Use getMean instead", 00068 CPoint3D getEstimatedPoint() const ) 00069 { 00070 CPoint3D p; 00071 this->getMean(p); 00072 return p; 00073 } 00074 00075 /** Copy operator, translating if necesary (for example, between particles and gaussian representations) 00076 */ 00077 virtual void copyFrom(const CPointPDF &o) = 0; 00078 00079 00080 /** 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!) 00081 * \param p1 The first distribution to fuse 00082 * \param p2 The second distribution to fuse 00083 * \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. 00084 */ 00085 virtual void bayesianFusion( const CPointPDF &p1, const CPointPDF &p2, const double &minMahalanobisDistToDrop = 0) = 0 ; 00086 00087 enum { is_3D_val = 1 }; 00088 static inline bool is_3D() { return is_3D_val!=0; } 00089 enum { is_PDF_val = 1 }; 00090 static inline bool is_PDF() { return is_PDF_val!=0; } 00091 00092 /** Returns a 3D representation of this PDF. 00093 * \note Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument. 00094 */ 00095 template <class OPENGL_SETOFOBJECTSPTR> 00096 inline void getAs3DObject(OPENGL_SETOFOBJECTSPTR &out_obj) const { 00097 *out_obj = *mrpt::opengl::posePDF2opengl<CPointPDF,OPENGL_SETOFOBJECTSPTR>(*this); 00098 } 00099 00100 /** Returns a 3D representation of this PDF. 00101 * \note Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument. 00102 */ 00103 template <class OPENGL_SETOFOBJECTSPTR> 00104 inline OPENGL_SETOFOBJECTSPTR getAs3DObject() const { 00105 return mrpt::opengl::posePDF2opengl<CPosePDF,OPENGL_SETOFOBJECTSPTR>(*this); 00106 } 00107 00108 }; // End of class def. 00109 00110 00111 } // End of namespace 00112 } // End of namespace 00113 00114 #endif
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