Class CEllipsoidRangeBearing2D

Defined in File CEllipsoidRangeBearing2D.h

Inheritance Relationships

Base Types

public mrpt::viz::CGeneralizedEllipsoidTemplate< 2 > (Template Class CGeneralizedEllipsoidTemplate)
public mrpt::viz::CVisualObject (Class CVisualObject)

Class Documentation

class CEllipsoidRangeBearing2D : public mrpt::viz::CGeneralizedEllipsoidTemplate<2>, public virtual mrpt::viz::CVisualObject 

An especial “ellipsoid” in 2D computed as the uncertainty iso-surfaces of a (range,bearing) variable. The parameter space of this ellipsoid comprises these variables (in this order):

range: Distance from sensor to feature.
bearing: Angle from +X to the line that goes from the sensor towards the feature.

This class expects you to provide a mean vector of length 2 and a 2x2 covariance matrix, set with setCovMatrixAndMean().

Please read the documentation of CGeneralizedEllipsoidTemplate::setQuantiles() for learning the mathematical details about setting the desired confidence interval.

../../output_staging/generated/doxygen/xml/preview_CEllipsoidRangeBearing2D.png

Public Functions

CEllipsoidRangeBearing2D() = default: Constructor

~CEllipsoidRangeBearing2D() override = default: Private, virtual destructor: only can be deleted from smart pointers

Protected Functions

void transformFromParameterSpace(const std::vector<BASE::array_parameter_t> &in_pts, std::vector<BASE::array_point_t> &out_pts) const override: To be implemented by derived classes: maps, using some arbitrary space transformation, a list of points defining an ellipsoid in parameter space into their corresponding points in 2D/3D space.