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26 namespace utils {
class CStringList; }
52 enum TTypePDF { pdfMonteCarlo = 0, pdfGauss, pdfSOG };
130 void generateObservationModelDistribution(
131 const
float &sensedRange,
132 mrpt::poses::CPointPDFSOG &outPDF,
134 const
mrpt::poses::CPoint3D &sensorPntOnRobot,
135 const
mrpt::poses::CPoint3D ¢erPoint =
mrpt::poses::CPoint3D(0,0,0),
136 const
float &maxDistanceFromCenter = 0
145 static
void generateRingSOG(
146 const
float &sensedRange,
147 mrpt::poses::CPointPDFSOG &outPDF,
149 const
mrpt::poses::CPoint3D &sensorPnt,
151 bool clearPreviousContentsOutPDF = true,
152 const
mrpt::poses::CPoint3D ¢erPoint =
mrpt::poses::CPoint3D(0,0,0),
153 const
float &maxDistanceFromCenter = 0
CBeacon()
Default constructor.
TTypePDF m_typePDF
Which one of the different 3D point PDF is currently used in this object: montecarlo,...
A gaussian distribution for 3D points.
A probability distribution of a 2D/3D point, represented as a set of random samples (particles).
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
void getCovarianceAndMean(mrpt::math::CMatrixDouble33 &cov, mrpt::poses::CPoint3D &mean_point) const MRPT_OVERRIDE
Returns an estimate of the point covariance matrix (3x3 cov matrix) and the mean, both at once.
void changeCoordinatesReference(const mrpt::poses::CPose3D &newReferenceBase) MRPT_OVERRIDE
this = p (+) this.
mrpt::poses::CPointPDFGaussian m_locationGauss
The individual PDF, if m_typePDF=pdfGauss (publicly accesible for ease of use, but the CPointPDF inte...
void getAs3DObject(mrpt::opengl::CSetOfObjectsPtr &outObj) const
Saves a 3D representation of the beacon into a given OpenGL scene
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
void getAsMatlabDrawCommands(utils::CStringList &out_Str) const
Gets a set of MATLAB commands which draw the current state of the beacon:
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
mrpt::poses::CPointPDFSOG m_locationSOG
The individual PDF, if m_typePDF=pdfSOG (publicly accesible for ease of use, but the CPointPDF interf...
A numeric matrix of compile-time fixed size.
The virtual base class which provides a unified interface for all persistent objects in MRPT.
TBeaconID m_ID
An ID for the landmark (see details next...) This ID was introduced in the version 3 of this class (2...
Declares a class that represents a Probability Density function (PDF) of a 3D point .
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
void copyFrom(const mrpt::poses::CPointPDF &o) MRPT_OVERRIDE
Copy operator, translating if necesary (for example, between particles and gaussian representations)
mrpt::poses::CPointPDFParticles m_locationMC
The individual PDF, if m_typePDF=pdfMonteCarlo (publicly accesible for ease of use,...
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian,...
The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions.
void getMean(mrpt::poses::CPoint3D &mean_point) const MRPT_OVERRIDE
Returns an estimate of the point, (the mean, or mathematical expectation of the PDF).
void saveToTextFile(const std::string &file) const MRPT_OVERRIDE
Save PDF's particles to a text file.
Eigen::Matrix< typename MATRIX::Scalar, MATRIX::ColsAtCompileTime, MATRIX::ColsAtCompileTime > cov(const MATRIX &v)
Computes the covariance matrix from a list of samples in an NxM matrix, where each row is a sample,...
Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x,...
A class for storing a list of text lines.
A class used to store a 3D point.
void drawSingleSample(mrpt::poses::CPoint3D &outSample) const MRPT_OVERRIDE
Draw a sample from the pdf.
void bayesianFusion(const CPointPDF &p1, const CPointPDF &p2, const double &minMahalanobisDistToDrop=0) MRPT_OVERRIDE
Bayesian fusion of two point distributions (product of two distributions->new distribution),...
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
virtual ~CBeacon()
Virtual destructor.
CMatrixFixedNumeric< double, 3, 3 > CMatrixDouble33
int64_t TBeaconID
The type for the IDs of landmarks.
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