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91 enum { is_3D_val = 1 };
92 static inline bool is_3D() {
return is_3D_val!=0; }
93 enum { is_PDF_val = 1 };
94 static inline bool is_PDF() {
return is_PDF_val!=0; }
99 template <
class OPENGL_SETOFOBJECTSPTR>
101 typedef typename OPENGL_SETOFOBJECTSPTR::value_type SETOFOBJECTS;
108 template <
class OPENGL_SETOFOBJECTSPTR>
110 typedef typename OPENGL_SETOFOBJECTSPTR::value_type SETOFOBJECTS;
virtual void inverse(CPose3DPDF &o) const =0
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
virtual void bayesianFusion(const CPose3DPDF &p1, const CPose3DPDF &p2)=0
Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently on...
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE(class_name, base_name)
Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually).
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
static CPose3DPDF * createFrom2D(const CPosePDF &o)
This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (...
static void jacobiansPoseComposition(const CPose3D &x, const CPose3D &u, mrpt::math::CMatrixDouble66 &df_dx, mrpt::math::CMatrixDouble66 &df_du)
This static method computes the pose composition Jacobians.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
void getAs3DObject(OPENGL_SETOFOBJECTSPTR &out_obj) const
Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj,...
#define DEFINE_VIRTUAL_SERIALIZABLE(class_name)
This declaration must be inserted in virtual CSerializable classes definition:
A numeric matrix of compile-time fixed size.
The virtual base class which provides a unified interface for all persistent objects in MRPT.
virtual void copyFrom(const CPose3DPDF &o)=0
Copy operator, translating if necesary (for example, between particles and gaussian representations)
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
CSetOfObjectsPtr posePDF2opengl(const POSE_PDF &o)
Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call...
OPENGL_SETOFOBJECTSPTR getAs3DObject() const
Returns a 3D representation of this PDF.
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE(class_name, base_name)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
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