#include <GaussianMixtureDistribution.h>

Public Member Functions
double	evaluate (boost::shared_ptr< ISM::Pose > pPose)

	GaussianMixtureDistribution (unsigned int pDimension)

void	initializeVisualizer (boost::shared_ptr< Visualization::ProbabilisticSecondarySceneObjectVisualization > pVisualizer)

void	load (boost::property_tree::ptree &pPt, std::string pNode)

void	visualize (boost::shared_ptr< Visualization::ProbabilisticSecondarySceneObjectVisualization > pVisualizer, boost::shared_ptr< ISM::Pose > pPose)

	~GaussianMixtureDistribution ()

Private Member Functions
Eigen::VectorXd	getVectorFromObject (boost::shared_ptr< ISM::Pose > pPose)

Private Attributes
unsigned int	mDimension

std::vector< PSMInference::GaussianKernel >	mKernels

Detailed Description

A gaussian mixture distribution maintaining a list of weighted gaussian kernels.

Definition at line 42 of file GaussianMixtureDistribution.h.

Constructor & Destructor Documentation

ProbabilisticSceneRecognition::GaussianMixtureDistribution::GaussianMixtureDistribution ( unsigned int pDimension )

Constructor.

Parameters

pDimension The number of dimensions of the distribution.

Definition at line 22 of file GaussianMixtureDistribution.cpp.

ProbabilisticSceneRecognition::GaussianMixtureDistribution::~GaussianMixtureDistribution ( )

Destructor.

Definition at line 27 of file GaussianMixtureDistribution.cpp.

Member Function Documentation

double ProbabilisticSceneRecognition::GaussianMixtureDistribution::evaluate ( boost::shared_ptr< ISM::Pose > pPose )

Evaluate the gaussian mixture distribution with the given pose.

Parameters

pPose The pose to evaluate the gaussian mixture distribution with.

Definition at line 58 of file GaussianMixtureDistribution.cpp.

Eigen::VectorXd ProbabilisticSceneRecognition::GaussianMixtureDistribution::getVectorFromObject ( boost::shared_ptr< ISM::Pose > pPose )

private

Converts the given pose into a 7D eigen Vector.

Parameters

pPose The pose to convert to a 7d vector.

Returns: The 7d vector representing the pose.

Definition at line 85 of file GaussianMixtureDistribution.cpp.

void ProbabilisticSceneRecognition::GaussianMixtureDistribution::initializeVisualizer ( boost::shared_ptr< Visualization::ProbabilisticSecondarySceneObjectVisualization > pVisualizer )

Initializes the visualization mechanism.

Parameters

pVisualizer The visualizer for the secondary scene object represented by this node.

Definition at line 51 of file GaussianMixtureDistribution.cpp.

void ProbabilisticSceneRecognition::GaussianMixtureDistribution::load	(	boost::property_tree::ptree &	pPt,
		std::string	pNode
	)

Loads the working data from an XML file.

Parameters

pPt	Data structure for performing XML operations.
pNode	The name of the node that contains the distribution.

Definition at line 31 of file GaussianMixtureDistribution.cpp.

void ProbabilisticSceneRecognition::GaussianMixtureDistribution::visualize	(	boost::shared_ptr< Visualization::ProbabilisticSecondarySceneObjectVisualization >	pVisualizer,
		boost::shared_ptr< ISM::Pose >	pPose
	)

Evaluates the gaussian mixture distribution for the given evidence and visualizes the result.

Parameters

pVisualizer	The visualizer for the secondary scene object represented by this node.
pPose	The pose to evaluate the gaussian mixture distribution with.

Definition at line 74 of file GaussianMixtureDistribution.cpp.

Member Data Documentation

unsigned int ProbabilisticSceneRecognition::GaussianMixtureDistribution::mDimension

private

The number of dimensions of the distribution.

Definition at line 103 of file GaussianMixtureDistribution.h.

std::vector<PSMInference::GaussianKernel> ProbabilisticSceneRecognition::GaussianMixtureDistribution::mKernels

private

The gaussian kernels (and weights) forming the gaussian mixture distribution.

Definition at line 108 of file GaussianMixtureDistribution.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation