Class CPointPDF

Inheritance Relationships

Base Types

  • public mrpt::serialization::CSerializable

  • public mrpt::math::CProbabilityDensityFunction< CPoint3D, 3 >

Derived Types

Class Documentation

class CPointPDF : public mrpt::serialization::CSerializable, public mrpt::math::CProbabilityDensityFunction<CPoint3D, 3>

Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x,y,z). This class is just the base class for unifying many different ways this PDF can be implemented.

For convenience, a pose composition is also defined for any PDF derived class, changeCoordinatesReference, in the form of a method rather than an operator.

For a similar class for 6D poses (a 3D point with attitude), see CPose3DPDF

See also: probabilistic spatial representations

See also

CPoint3D

Subclassed by mrpt::poses::CPointPDFGaussian, mrpt::poses::CPointPDFParticles, mrpt::poses::CPointPDFSOG

Public Types

enum [anonymous]

Values:

enumerator is_3D_val
enum [anonymous]

Values:

enumerator is_PDF_val

Public Functions

virtual void copyFrom(const CPointPDF &o) = 0

Copy operator, translating if necessary (for example, between particles and gaussian representations)

virtual void bayesianFusion(const CPointPDF &p1, const CPointPDF &p2, const double minMahalanobisDistToDrop = 0) = 0

Bayesian fusion of two point distributions (product of two distributions->new distribution), then save the result in this object (WARNING: See implementing classes to see classes that can and cannot be mixtured!)

Parameters:

  • p1 – The first distribution to fuse

  • p2 – The second distribution to fuse

  • minMahalanobisDistToDrop – If set to different of 0, the result of very separate Gaussian modes (that will result in negligible components) in SOGs will be dropped to reduce the number of modes in the output.

virtual void changeCoordinatesReference(const CPose3D &newReferenceBase) = 0
template<class OPENGL_SETOFOBJECTSPTR>
inline void getAs3DObject(OPENGL_SETOFOBJECTSPTR &out_obj) const

Returns a 3D representation of this PDF (it doesn’t clear the current contents of out_obj, but append new OpenGL objects to that list)

Note

Needs the mrpt-opengl library, and using mrpt::viz::CSetOfObjects::Ptr as template argument.

Note

By default, ellipsoids for the confidence intervals of “q=3” are drawn; for more mathematical details, see CGeneralizedEllipsoidTemplate::setQuantiles()

template<class OPENGL_SETOFOBJECTSPTR, class OPENGL_SETOFOBJECTS>
inline OPENGL_SETOFOBJECTSPTR getAs3DObject() const

Returns a 3D representation of this PDF.

Note

Needs the mrpt-opengl library, and using mrpt::viz::CSetOfObjects::Ptr as template argument.

Public Static Functions

static inline constexpr bool is_3D()
static inline constexpr bool is_PDF()