RelPose.h
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00001 /*
00002  * Copyright (C) 2009 by Ulrich Friedrich Klank <klank@in.tum.de>
00003  *
00004  * This program is free software; you can redistribute it and/or modify
00005  * it under the terms of the GNU General Public License as published by
00006  * the Free Software Foundation; either version 3 of the License, or
00007  * (at your option) any later version.
00008  *
00009  * This program is distributed in the hope that it will be useful,
00010  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00011  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00012  * GNU General Public License for more details.
00013  *
00014  * You should have received a copy of the GNU General Public License
00015  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
00016  */
00017 
00018 
00019 /************************************************************************
00020                         RelPose.h - Copyright klank
00021 
00022 
00023 **************************************************************************/
00024 
00025 #ifndef RELPOSE_H
00026 #define RELPOSE_H
00027 
00028 
00029 #define XML_NODE_RELPOSE "RelPose"
00030 #define XML_ATTRIBUTE_LOID "loid"
00031 #define XML_ATTRIBUTE_LOIDFATHER "loidfather"
00032 #define XML_NODE_MATPOSE "Pose"
00033 #define XML_NODE_COVARIANCE "Cov"
00034 
00035 #include <string>
00036 
00037 #include <lo/lo.h>
00038 #include <ElemTypes.h>
00039 
00040 #ifndef ID_WORLD
00041 #define ID_WORLD 1
00042 #endif
00043 
00044 
00045 namespace cop
00046 {
00047   class XMLTag;
00052   class RelPose : public jlo::LocatedObject
00053   {
00054   public:
00055     ~RelPose(){}
00060     RelPose(jlo::LazyLocatedObjectLoader* loader, LocatedObjectID_t, LocatedObjectID_t parentID, Matrix m, Matrix cov, std::string name = "");
00061 
00063      double m_qualityMeasure;
00064      std::string m_mapstring;
00065     Matrix GetMatrix(LocatedObjectID_t id);
00066     Matrix GetCovariance(LocatedObjectID_t id);
00067 
00068     double ProbabilityOfCorrespondence(RelPose* pose, bool no_rotation = true);
00069     double DistanceTo(LocatedObjectID_t id);
00070   private:
00071     RelPose(jlo::LazyLocatedObjectLoader* );
00072     RelPose(jlo::LocatedObject& pose);
00073     RelPose(RelPose* pose, Matrix m, Matrix cov);
00074     RelPose(jlo::LocatedObject* pose, Matrix m, Matrix cov);
00075 
00076   public:
00077     XMLTag* SaveComplete() ;
00078   /*    void TransformPointLocally(const double& x_in, const double& y_in, const double& z_in, double& x_out, double& y_out, double& z_out, const double& scale);*/
00079     XMLTag* Save() ;
00080   private:
00081     friend class RelPoseFactory;
00082     friend class RelPoseHTuple;
00083   };
00084   class MinimalCalibration;
00085   void RelPoseToRect(RelPose* pose, LocatedObjectID_t relation, MinimalCalibration* calib, int &r1, int &c1, int &r2, int &c2);
00086 }
00087 #endif // RELPOSE_H


cognitive_perception
Author(s): Ulrich F Klank
autogenerated on Mon Oct 6 2014 10:48:45