Detailed Description

Declares a class that represents a Probability Density function (PDF) of a 2D pose $p(\mathbf{x}) = [x ~ y ~ \phi ]^t$ .

This class implements that PDF as the following multi-modal Gaussian distribution:

$p(\mathbf{x}) = \sum\limits_{i=1}^N \omega^i \mathcal{N}( \mathbf{x} ; \bar{\mathbf{x}}^i, \mathbf{\Sigma}^i )$

Where the number of modes N is the size of CPosePDFSOG::m_modes

See mrpt::poses::CPosePDF for more details.

See also:: CPose2D, CPosePDF, CPosePDFParticles

#include <mrpt/poses/CPosePDFSOG.h>

Inheritance diagram for mrpt::poses::CPosePDFSOG:

[legend]

List of all members.

Classes
struct	TGaussianMode
	The struct for each mode: More...
Public Types
typedef mrpt::aligned_containers < TGaussianMode >::vector_t	CListGaussianModes
typedef CListGaussianModes::const_iterator	const_iterator
typedef CListGaussianModes::iterator	iterator
enum	{ is_3D_val = 0 }
enum	{ is_PDF_val = 1 }
typedef TDATA	type_value
	The type of the state the PDF represents.
Public Member Functions
	CPosePDFSOG (size_t nModes=1)
	Default constructor.
size_t	size () const
	Return the number of Gaussian modes.
bool	empty () const
	Return whether there is any Gaussian mode.
void	clear ()
	Clear the list of modes.
const TGaussianMode &	operator[] (size_t i) const
	Access to individual beacons.
TGaussianMode &	operator[] (size_t i)
	Access to individual beacons.
const TGaussianMode &	get (size_t i) const
	Access to individual beacons.
TGaussianMode &	get (size_t i)
	Access to individual beacons.
void	push_back (const TGaussianMode &m)
	Inserts a copy of the given mode into the SOG.
iterator	begin ()
iterator	end ()
const_iterator	begin () const
const_iterator	end () const
iterator	erase (iterator i)
void	resize (const size_t N)
	Resize the number of SOG modes.
void	mergeModes (double max_KLd=0.5, bool verbose=false)
	Merge very close modes so the overall number of modes is reduced while preserving the total distribution.
void	getMean (CPose2D &mean_pose) const
	Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).
void	getCovarianceAndMean (CMatrixDouble33 &cov, CPose2D &mean_point) const
	Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once.
void	getMostLikelyCovarianceAndMean (CMatrixDouble33 &cov, CPose2D &mean_point) const
	For the most likely Gaussian mode in the SOG, returns the pose covariance matrix (3x3 cov matrix) and the mean.
void	normalizeWeights ()
	Normalize the weights in m_modes such as the maximum log-weight is 0.
void	copyFrom (const CPosePDF &o)
	Copy operator, translating if necesary (for example, between particles and gaussian representations)
void	saveToTextFile (const std::string &file) const
	Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements:
void	changeCoordinatesReference (const CPose3D &newReferenceBase)
	This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf.
void	rotateAllCovariances (const double &ang)
	Rotate all the covariance matrixes by replacing them by $\mathbf{R}~\mathbf{COV}~\mathbf{R}^t$ , where $\mathbf{R} = \left[ \begin{array}{ccc} \cos\alpha & -\sin\alpha & 0 \\ \sin\alpha & \cos\alpha & 0 \\ 0 & 0 & 1 \end{array}\right]$ .
void	drawSingleSample (CPose2D &outPart) const
	Draws a single sample from the distribution.
void	drawManySamples (size_t N, std::vector< vector_double > &outSamples) const
	Draws a number of samples from the distribution, and saves as a list of 1x3 vectors, where each row contains a (x,y,phi) datum.
void	inverse (CPosePDF &o) const
	Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
void	operator+= (const CPose2D &Ap)
	Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).
double	evaluatePDF (const CPose2D &x, bool sumOverAllPhis=false) const
	Evaluates the PDF at a given point.
double	evaluateNormalizedPDF (const CPose2D &x) const
	Evaluates the ratio PDF(x) / max_PDF(x*), that is, the normalized PDF in the range [0,1].
void	evaluatePDFInArea (const double &x_min, const double &x_max, const double &y_min, const double &y_max, const double &resolutionXY, const double &phi, CMatrixD &outMatrix, bool sumOverAllPhis=false)
	Evaluates the PDF within a rectangular grid (and a fixed orientation) and saves the result in a matrix (each row contains values for a fixed y-coordinate value).
void	bayesianFusion (const CPosePDF &p1, const CPosePDF &p2, const double &minMahalanobisDistToDrop=0)
	Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPosePDFSOG object and p2 a mrpt::poses::CPosePDFGaussian object)
template<class OPENGL_SETOFOBJECTSPTR >
void	getAs3DObject (OPENGL_SETOFOBJECTSPTR &out_obj) const
	Returns a 3D representation of this PDF.
template<class OPENGL_SETOFOBJECTSPTR >
OPENGL_SETOFOBJECTSPTR	getAs3DObject () const
	Returns a 3D representation of this PDF.
mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).
CObject *	clone () const
	Cloning interface for smart pointers.
virtual void	getMean (TDATA &mean_point) const =0
	Returns the mean, or mathematical expectation of the probability density distribution (PDF).
virtual void	getCovarianceAndMean (CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov, TDATA &mean_point) const =0
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
void	getCovarianceDynAndMean (CMatrixDouble &cov, TDATA &mean_point) const
	Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.
TDATA	getMeanVal () const
	Returns the mean, or mathematical expectation of the probability density distribution (PDF).
void	getCovariance (CMatrixDouble &cov) const
	Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
void	getCovariance (CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &cov) const
	Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN >	getCovariance () const
	Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)
virtual void	drawSingleSample (TDATA &outPart) const =0
	Draws a single sample from the distribution.
double	getCovarianceEntropy () const
	Compute the entropy of the estimated covariance matrix.
Static Public Member Functions
static bool	is_3D ()
static bool	is_PDF ()
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
static const size_t	state_length
	The length of the variable, for example, 3 for a 3D point, 6 for a 3D pose (x y z yaw pitch roll).
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable
Protected Member Functions
void	assureSymmetry ()
	Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream.
virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
Protected Attributes
CListGaussianModes	m_modes
	The list of SOG modes.
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCPosePDF
class	mrpt::utils::CStream
RTTI stuff
typedef CPosePDFSOGPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CPosePDFSOG
static mrpt::utils::TRuntimeClassId	classCPosePDFSOG
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static CPosePDFSOGPtr	Create ()

Member Typedef Documentation

typedef mrpt::aligned_containers<TGaussianMode>::vector_t mrpt::poses::CPosePDFSOG::CListGaussianModes

Definition at line 84 of file CPosePDFSOG.h.

typedef CListGaussianModes::const_iterator mrpt::poses::CPosePDFSOG::const_iterator

Definition at line 85 of file CPosePDFSOG.h.

typedef CListGaussianModes::iterator mrpt::poses::CPosePDFSOG::iterator

Definition at line 86 of file CPosePDFSOG.h.

typedef CPosePDFSOGPtr mrpt::poses::CPosePDFSOG::SmartPtr

A typedef for the associated smart pointer

Definition at line 60 of file CPosePDFSOG.h.

typedef TDATA mrpt::utils::CProbabilityDensityFunction::type_value [inherited]

The type of the state the PDF represents.

Definition at line 54 of file CProbabilityDensityFunction.h.

Member Enumeration Documentation

anonymous enum [inherited]

Enumerator:

is_3D_val

Definition at line 79 of file CPosePDF.h.

anonymous enum [inherited]

Enumerator:

is_PDF_val

Definition at line 81 of file CPosePDF.h.

Constructor & Destructor Documentation

mrpt::poses::CPosePDFSOG::CPosePDFSOG ( size_t nModes = 1 )

Default constructor.

Parameters:

nModes The initial size of CPosePDFSOG::m_modes

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDFSOG::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::poses::CPosePDF.

void mrpt::poses::CPosePDFSOG::assureSymmetry ( ) [protected]

Assures the symmetry of the covariance matrix (eventually certain operations in the math-coprocessor lead to non-symmetric matrixes!)

void mrpt::poses::CPosePDFSOG::bayesianFusion	(	const CPosePDF &	p1,
		const CPosePDF &	p2,
		const double &	minMahalanobisDistToDrop = `0`
	)		`[virtual]`

Bayesian fusion of two pose distributions, then save the result in this object (WARNING: Currently p1 must be a mrpt::poses::CPosePDFSOG object and p2 a mrpt::poses::CPosePDFGaussian object)

Implements mrpt::poses::CPosePDF.

iterator mrpt::poses::CPosePDFSOG::begin ( ) [inline]

Definition at line 135 of file CPosePDFSOG.h.

const_iterator mrpt::poses::CPosePDFSOG::begin ( ) const [inline]

Definition at line 137 of file CPosePDFSOG.h.

void mrpt::poses::CPosePDFSOG::changeCoordinatesReference ( const CPose3D & newReferenceBase ) [virtual]

This can be used to convert a PDF from local coordinates to global, providing the point (newReferenceBase) from which "to project" the current pdf.

Result PDF substituted the currently stored one in the object.

Implements mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.

void mrpt::poses::CPosePDFSOG::clear ( )

Clear the list of modes.

CObject* mrpt::utils::CObject::clone ( ) const [inline, inherited]

Cloning interface for smart pointers.

Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 154 of file CObject.h.

void mrpt::poses::CPosePDFSOG::copyFrom ( const CPosePDF & o ) [virtual]

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

Implements mrpt::poses::CPosePDF.

static CPosePDFSOGPtr mrpt::poses::CPosePDFSOG::Create ( ) [static]

static mrpt::utils::CObject* mrpt::poses::CPosePDFSOG::CreateObject ( ) [static]

void mrpt::poses::CPosePDFSOG::drawManySamples	(	size_t	N,
		std::vector< vector_double > &	outSamples
	)		const `[virtual]`

Draws a number of samples from the distribution, and saves as a list of 1x3 vectors, where each row contains a (x,y,phi) datum.

Reimplemented from mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.

virtual void mrpt::utils::CProbabilityDensityFunction::drawSingleSample ( TDATA & outPart ) const [pure virtual, inherited]

Draws a single sample from the distribution.

void mrpt::poses::CPosePDFSOG::drawSingleSample ( CPose2D & outPart ) const

Draws a single sample from the distribution.

virtual mrpt::utils::CObject* mrpt::poses::CPosePDFSOG::duplicate ( ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const [inline, inherited]

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 151 of file CObject.h.

bool mrpt::poses::CPosePDFSOG::empty ( ) const [inline]

Return whether there is any Gaussian mode.

Definition at line 103 of file CPosePDFSOG.h.

iterator mrpt::poses::CPosePDFSOG::end ( ) [inline]

Definition at line 136 of file CPosePDFSOG.h.

const_iterator mrpt::poses::CPosePDFSOG::end ( ) const [inline]

Definition at line 138 of file CPosePDFSOG.h.

iterator mrpt::poses::CPosePDFSOG::erase ( iterator i ) [inline]

Definition at line 140 of file CPosePDFSOG.h.

double mrpt::poses::CPosePDFSOG::evaluateNormalizedPDF ( const CPose2D & x ) const

Evaluates the ratio PDF(x) / max_PDF(x*), that is, the normalized PDF in the range [0,1].

double mrpt::poses::CPosePDFSOG::evaluatePDF	(	const CPose2D &	x,
		bool	sumOverAllPhis = `false`
	)		const

Evaluates the PDF at a given point.

void mrpt::poses::CPosePDFSOG::evaluatePDFInArea	(	const double &	x_min,
		const double &	x_max,
		const double &	y_min,
		const double &	y_max,
		const double &	resolutionXY,
		const double &	phi,
		CMatrixD &	outMatrix,
		bool	sumOverAllPhis = `false`
	)

Evaluates the PDF within a rectangular grid (and a fixed orientation) and saves the result in a matrix (each row contains values for a fixed y-coordinate value).

const TGaussianMode& mrpt::poses::CPosePDFSOG::get ( size_t i ) const [inline]

Access to individual beacons.

Definition at line 120 of file CPosePDFSOG.h.

References ASSERT_.

TGaussianMode& mrpt::poses::CPosePDFSOG::get ( size_t i ) [inline]

Access to individual beacons.

Definition at line 125 of file CPosePDFSOG.h.

References ASSERT_.

template<class OPENGL_SETOFOBJECTSPTR >

void mrpt::poses::CPosePDF::getAs3DObject ( OPENGL_SETOFOBJECTSPTR & out_obj ) const [inline, inherited]

Returns a 3D representation of this PDF.

Note:: Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.

Definition at line 88 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

template<class OPENGL_SETOFOBJECTSPTR >

OPENGL_SETOFOBJECTSPTR mrpt::poses::CPosePDF::getAs3DObject ( ) const [inline, inherited]

Returns a 3D representation of this PDF.

Note:: Needs the mrpt-opengl library, and using mrpt::opengl::CSetOfObjectsPtr as template argument.

Definition at line 97 of file CPosePDF.h.

References mrpt::opengl::posePDF2opengl().

void mrpt::utils::CProbabilityDensityFunction::getCovariance ( CMatrixDouble & cov ) const [inline, inherited]

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also:: getMean, getCovarianceAndMean

Definition at line 89 of file CProbabilityDensityFunction.h.

References mrpt::utils::CProbabilityDensityFunction::getCovarianceDynAndMean().

void mrpt::utils::CProbabilityDensityFunction::getCovariance ( CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > & cov ) const [inline, inherited]

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also:: getMean, getCovarianceAndMean

Definition at line 98 of file CProbabilityDensityFunction.h.

References mrpt::utils::CProbabilityDensityFunction::getCovarianceAndMean().

CMatrixFixedNumeric<double,STATE_LEN,STATE_LEN> mrpt::utils::CProbabilityDensityFunction::getCovariance ( ) const [inline, inherited]

Returns the estimate of the covariance matrix (STATE_LEN x STATE_LEN covariance matrix)

See also:: getMean

Definition at line 107 of file CProbabilityDensityFunction.h.

References mrpt::math::cov(), and mrpt::utils::CProbabilityDensityFunction::getCovarianceAndMean().

virtual void mrpt::utils::CProbabilityDensityFunction::getCovarianceAndMean	(	CMatrixFixedNumeric< double, STATE_LEN, STATE_LEN > &	cov,
		TDATA &	mean_point
	)		const `[pure virtual, inherited]`

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See also:: getMean

void mrpt::poses::CPosePDFSOG::getCovarianceAndMean	(	CMatrixDouble33 &	cov,
		CPose2D &	mean_point
	)		const

Returns an estimate of the pose covariance matrix (3x3 cov matrix) and the mean, both at once.

See also:: getMean

void mrpt::utils::CProbabilityDensityFunction::getCovarianceDynAndMean	(	CMatrixDouble &	cov,
		TDATA &	mean_point
	)		const `[inline, inherited]`

Returns an estimate of the pose covariance matrix (STATE_LENxSTATE_LEN cov matrix) and the mean, both at once.

See also:: getMean

Definition at line 69 of file CProbabilityDensityFunction.h.

References mrpt::utils::CProbabilityDensityFunction::getCovarianceAndMean().

double mrpt::utils::CProbabilityDensityFunction::getCovarianceEntropy ( ) const [inline, inherited]

Compute the entropy of the estimated covariance matrix.

See also:: http://en.wikipedia.org/wiki/Multivariate_normal_distribution#Entropy

Definition at line 145 of file CProbabilityDensityFunction.h.

References mrpt::utils::CProbabilityDensityFunction::getCovariance(), and det().

virtual void mrpt::utils::CProbabilityDensityFunction::getMean ( TDATA & mean_point ) const [pure virtual, inherited]

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See also:: getCovarianceAndMean

void mrpt::poses::CPosePDFSOG::getMean ( CPose2D & mean_pose ) const

Returns an estimate of the pose, (the mean, or mathematical expectation of the PDF).

See also:: getCovariance

TDATA mrpt::utils::CProbabilityDensityFunction::getMeanVal ( ) const [inline, inherited]

Returns the mean, or mathematical expectation of the probability density distribution (PDF).

See also:: getCovariance

Definition at line 79 of file CProbabilityDensityFunction.h.

References mrpt::utils::CProbabilityDensityFunction::getMean().

void mrpt::poses::CPosePDFSOG::getMostLikelyCovarianceAndMean	(	CMatrixDouble33 &	cov,
		CPose2D &	mean_point
	)		const

For the most likely Gaussian mode in the SOG, returns the pose covariance matrix (3x3 cov matrix) and the mean.

See also:: getMean

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPosePDFSOG::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::poses::CPosePDF.

void mrpt::poses::CPosePDFSOG::inverse ( CPosePDF & o ) const [virtual]

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

Implements mrpt::poses::CPosePDF.

static bool mrpt::poses::CPosePDF::is_3D ( ) [inline, static, inherited]

Definition at line 80 of file CPosePDF.h.

static bool mrpt::poses::CPosePDF::is_PDF ( ) [inline, static, inherited]

Definition at line 82 of file CPosePDF.h.

void mrpt::poses::CPosePDFSOG::mergeModes	(	double	max_KLd = `0.5`,
		bool	verbose = `false`
	)

Merge very close modes so the overall number of modes is reduced while preserving the total distribution.

This method uses the approach described in the paper:

"Kullback-Leibler Approach to Gaussian Mixture Reduction" AR Runnalls. IEEE Transactions on Aerospace and Electronic Systems, 2007.

Parameters:

max_KLd The maximum KL-divergence to consider the merge of two nodes (and then stops the process).

void mrpt::poses::CPosePDFSOG::normalizeWeights ( )

Normalize the weights in m_modes such as the maximum log-weight is 0.

void mrpt::poses::CPosePDFSOG::operator+= ( const CPose2D & Ap )

Makes: thisPDF = thisPDF + Ap, where "+" is pose composition (both the mean, and the covariance matrix are updated).

const TGaussianMode& mrpt::poses::CPosePDFSOG::operator[] ( size_t i ) const [inline]

Access to individual beacons.

Definition at line 109 of file CPosePDFSOG.h.

References ASSERT_.

TGaussianMode& mrpt::poses::CPosePDFSOG::operator[] ( size_t i ) [inline]

Access to individual beacons.

Definition at line 114 of file CPosePDFSOG.h.

References ASSERT_.

void mrpt::poses::CPosePDFSOG::push_back ( const TGaussianMode & m ) [inline]

Inserts a copy of the given mode into the SOG.

Definition at line 131 of file CPosePDFSOG.h.

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)		`[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters:

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions:

std::exception On any error, see CStream::ReadBuffer

See also:: CStream

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

void mrpt::poses::CPosePDFSOG::resize ( const size_t N )

Resize the number of SOG modes.

void mrpt::poses::CPosePDFSOG::rotateAllCovariances ( const double & ang )

Rotate all the covariance matrixes by replacing them by $\mathbf{R}~\mathbf{COV}~\mathbf{R}^t$ , where $\mathbf{R} = \left[ \begin{array}{ccc} \cos\alpha & -\sin\alpha & 0 \\ \sin\alpha & \cos\alpha & 0 \\ 0 & 0 & 1 \end{array}\right]$ .

void mrpt::poses::CPosePDFSOG::saveToTextFile ( const std::string & file ) const [virtual]

Save the density to a text file, with the following format: There is one row per Gaussian "mode", and each row contains 10 elements:

w (The weight)
x_mean (gaussian mean value)
y_mean (gaussian mean value)
phi_mean (gaussian mean value)
C11 (Covariance elements)
C22 (Covariance elements)
C33 (Covariance elements)
C12 (Covariance elements)
C13 (Covariance elements)
C23 (Covariance elements)

Implements mrpt::utils::CProbabilityDensityFunction< CPose2D, 3 >.

size_t mrpt::poses::CPosePDFSOG::size ( ) const [inline]

Return the number of Gaussian modes.

Definition at line 102 of file CPosePDFSOG.h.

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const `[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters:

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions:

std::exception On any error, see CStream::WriteBuffer