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 CPose3DPDF_H 00029 #define CPose3DPDF_H 00030 00031 #include <mrpt/utils/CSerializable.h> 00032 #include <mrpt/poses/CPose3D.h> 00033 #include <mrpt/math/CMatrixD.h> 00034 #include <mrpt/utils/CProbabilityDensityFunction.h> 00035 00036 namespace mrpt 00037 { 00038 namespace poses 00039 { 00040 using namespace mrpt::math; 00041 00042 class CPosePDF; 00043 00044 DEFINE_SERIALIZABLE_PRE( CPose3DPDF ) 00045 00046 /** Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually). 00047 * This class is just the base class for unifying many diferent 00048 * ways this PDF can be implemented. 00049 * 00050 * For convenience, a pose composition is also defined for any 00051 * PDF derived class, changeCoordinatesReference, in the form of a method rather than an operator. 00052 * 00053 * For a similar class for 3D points (without attitude), see CPointPDF 00054 * 00055 * 00056 * 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>. 00057 * 00058 * \sa CPose3D, CPosePDF, CPointPDF 00059 */ 00060 class MRPTDLLIMPEXP CPose3DPDF : public mrpt::utils::CSerializable, public mrpt::utils::CProbabilityDensityFunction<CPose3D,6> 00061 { 00062 DEFINE_VIRTUAL_SERIALIZABLE( CPose3DPDF ) 00063 00064 public: 00065 00066 /** Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF) 00067 */ 00068 MRPT_DECLARE_DEPRECATED_FUNCTION("**deprecated** Use getMean instead", 00069 CPose3D getEstimatedPose() const ) 00070 { 00071 CPose3D p; 00072 this->getMean(p); 00073 return p; 00074 } 00075 00076 /** Copy operator, translating if necesary (for example, between particles and gaussian representations) 00077 * \sa createFrom2D 00078 */ 00079 virtual void copyFrom(const CPose3DPDF &o) = 0; 00080 00081 /** This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) 00082 * It returns a new object of any of the derived classes of CPose3DPDF. This object must be deleted by the user when not required anymore. 00083 * \sa copyFrom 00084 */ 00085 static CPose3DPDF* createFrom2D(const CPosePDF &o); 00086 00087 /** Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently only distributions of the same class can be fused! eg, gaussian with gaussian,etc) 00088 */ 00089 virtual void bayesianFusion( CPose3DPDF &p1, CPose3DPDF &p2 ) = 0 ; 00090 00091 /** Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF 00092 */ 00093 virtual void inverse(CPose3DPDF &o) const = 0; 00094 00095 00096 }; // End of class def. 00097 00098 00099 } // End of namespace 00100 } // End of namespace 00101 00102 #endif
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