Class CPose3DQuatPDF

Inheritance Relationships

Base Types

  • public mrpt::serialization::CSerializable

  • public mrpt::math::CProbabilityDensityFunction< CPose3DQuat, 7 >

Derived Types

Class Documentation

class CPose3DQuatPDF : public mrpt::serialization::CSerializable, public mrpt::math::CProbabilityDensityFunction<CPose3DQuat, 7>

Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually), by means of a 7-vector with a translation [x y z] and a quaternion [qr qx qy qz]. 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 3D points (without attitude), see CPointPDF.

  • For a similar class for 3D poses (with Euler angles instead of quaternions), see CPose3DPDF.

See also: probabilistic spatial representations

See also

CPose3DQuatPDF, CPose3DPDF

Subclassed by mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf

Public Functions

virtual void copyFrom(const CPose3DQuatPDF &o) = 0

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

See also

createFrom2D

virtual void inverse(CPose3DQuatPDF &o) const = 0

Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF

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>
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 CPose3DQuatPDF::Ptr createFrom2D(const CPosePDF &o)

This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (particles->particles, Gaussians->Gaussians,etc) It returns a new object of any of the derived classes of CPose3DQuatPDF. This object must be deleted by the user when not required anymore.

See also

copyFrom

static void jacobiansPoseComposition(const CPose3DQuat &x, const CPose3DQuat &u, mrpt::math::CMatrixDouble77 &df_dx, mrpt::math::CMatrixDouble77 &df_du, CPose3DQuat *out_x_oplus_u = nullptr)

This static method computes the two Jacobians of a pose composition operation \( (x,u)= x \oplus u \)

Parameters:

out_x_oplus_u – If set to !=nullptr, the result of “x+u” will be stored here (it will be computed internally anyway). To see the mathematical derivation of the formulas, refer to the technical report here: