Detailed Description

Classes for 2D/3D geometry representation, both of single values and probability density distributions (PDFs) in many forms.

Namespaces
namespace	detail
	Internal, auxiliary templates for MRPT classes.
Classes
class	CPoint
	A base class for representing a point in 2D or 3D. More...
struct	CPoint2DPtr
class	CPoint2D
	A class used to store a 2D point. More...
struct	CPoint2DPDFPtr
class	CPoint2DPDF
	Declares a class that represents a Probability Distribution function (PDF) of a 2D point (x,y). More...
struct	CPoint2DPDFGaussianPtr
class	CPoint2DPDFGaussian
	A gaussian distribution for 2D points. More...
struct	CPoint3DPtr
class	CPoint3D
	A class used to store a 3D point. More...
struct	CPointPDFPtr
class	CPointPDF
	Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x,y,z). More...
struct	CPointPDFGaussianPtr
class	CPointPDFGaussian
	A gaussian distribution for 3D points. More...
struct	TSimple3DPointPtr
class	TSimple3DPoint
	Data within each particle. More...
struct	CPointPDFParticlesPtr
class	CPointPDFParticles
	A probability distribution of a 2D/3D point, represented as a set of random samples (particles). More...
struct	CPointPDFSOGPtr
class	CPointPDFSOG
	Declares a class that represents a Probability Density function (PDF) of a 3D point $p(\mathbf{x}) = [x ~ y ~ z ]^t$ . More...
class	CPose
	A base class for representing a pose in 2D or 3D. More...
struct	CPose2DPtr
class	CPose2D
	A class used to store a 2D pose. More...
class	CPose2DGridTemplate
	This is a template class for storing a 3D (2D+heading) grid containing any kind of data. More...
struct	CPose3DPtr
class	CPose3D
	A class used to store a 3D pose (a 3D translation + a rotation in 3D). More...
struct	CPose3DInterpolatorPtr
class	CPose3DInterpolator
	A trajectory in time and in 6D (CPose3D) that interpolates using splines the intervals between a set of given time-referenced poses. More...
struct	CPose3DPDFPtr
class	CPose3DPDF
	Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually). More...
struct	CPose3DPDFGaussianPtr
class	CPose3DPDFGaussian
	Declares a class that represents a Probability Density function (PDF) of a 3D pose $p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t$ . More...
struct	CPose3DPDFGaussianInfPtr
class	CPose3DPDFGaussianInf
	Declares a class that represents a Probability Density function (PDF) of a 3D pose $p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t$ as a Gaussian described by its mean and its inverse covariance matrix. More...
struct	CPose3DPDFParticlesPtr
class	CPose3DPDFParticles
	Declares a class that represents a Probability Density function (PDF) of a 3D pose. More...
struct	CPose3DPDFSOGPtr
class	CPose3DPDFSOG
	Declares a class that represents a Probability Density function (PDF) of a 3D(6D) pose $p(\mathbf{x}) = [x ~ y ~ z ~ yaw ~ pitch ~ roll]^t$ . More...
struct	CPose3DQuatPtr
class	CPose3DQuat
	A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz). More...
struct	CPose3DQuatPDFPtr
class	CPose3DQuatPDF
	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]. More...
struct	CPose3DQuatPDFGaussianPtr
class	CPose3DQuatPDFGaussian
	Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion $p(\mathbf{x}) = [x ~ y ~ z ~ qr ~ qx ~ qy ~ qz]^\top$ . More...
class	CPoseOrPoint
	The base template class for 2D & 3D points and poses. More...
struct	CPosePDFPtr
class	CPosePDF
	Declares a class that represents a probability density function (pdf) of a 2D pose (x,y,phi). More...
struct	CPosePDFGaussianPtr
class	CPosePDFGaussian
	Declares a class that represents a Probability Density function (PDF) of a 2D pose $p(\mathbf{x}) = [x ~ y ~ \phi ]^t$ . More...
struct	CPosePDFGaussianInfPtr
class	CPosePDFGaussianInf
	A Probability Density function (PDF) of a 2D pose $p(\mathbf{x}) = [x ~ y ~ \phi ]^t$ as a Gaussian with a mean and the inverse of the covariance. More...
struct	CPosePDFGridPtr
class	CPosePDFGrid
	Declares a class that represents a Probability Distribution function (PDF) of a 2D pose (x,y,phi). More...
struct	CPosePDFParticlesPtr
class	CPosePDFParticles
	Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x,y,phi), using a set of weighted samples. More...
struct	CPosePDFSOGPtr
class	CPosePDFSOG
	Declares a class that represents a Probability Density function (PDF) of a 2D pose $p(\mathbf{x}) = [x ~ y ~ \phi ]^t$ . More...
class	CPoseRandomSampler
	An efficient generator of random samples drawn from a given 2D (CPosePDF) or 3D (CPose3DPDF) pose probability density function (pdf). More...
struct	CPoses2DSequencePtr
class	CPoses2DSequence
	This class stores a sequence of relative, incremental 2D poses. More...
struct	CPoses3DSequencePtr
class	CPoses3DSequence
	This class stores a sequence of relative, incremental 3D poses. More...
class	CRobot2DPoseEstimator
	A simple filter to estimate and extrapolate the robot 2D (x,y,phi) pose from asynchronous odometry and localization data. More...
struct	SE_traits< 3 >
	Specialization of SE for 3D poses. More...
struct	SE_traits< 2 >
	Specialization of SE for 2D poses. More...
Typedefs
typedef mrpt::aligned_containers < CPose2D >::vector_t	StdVector_CPose2D
	Eigen aligment-compatible container.
typedef mrpt::aligned_containers < CPose2D >::deque_t	StdDeque_CPose2D
	Eigen aligment-compatible container.
typedef std::pair < mrpt::system::TTimeStamp, mrpt::poses::CPose3D >	TTimePosePair
typedef CProbabilityParticle < CPose3D >	CPose3DParticle
	A type definition for m_particles containing a 3D pose.
Enumerations
enum	TConstructorFlags_Poses { UNINITIALIZED_POSE = 0 }
Functions
template<class DERIVEDCLASS >
std::ostream &	operator<< (std::ostream &o, const CPoint< DERIVEDCLASS > &p)
	Dumps a point as a string [x,y] or [x,y,z].
template<class DERIVEDCLASS >
bool	operator< (const CPoint< DERIVEDCLASS > &a, const CPoint< DERIVEDCLASS > &b)
	Used by STL algorithms.
template<class DERIVEDCLASS >
bool	operator== (const CPoint< DERIVEDCLASS > &p1, const CPoint< DERIVEDCLASS > &p2)
template<class DERIVEDCLASS >
bool	operator!= (const CPoint< DERIVEDCLASS > &p1, const CPoint< DERIVEDCLASS > &p2)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPoint2DPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPoint2DPDFPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPoint2DPDFGaussianPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPoint3DPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPointPDFPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPointPDFGaussianPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, TSimple3DPointPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPointPDFParticlesPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPointPDFSOGPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPose2DPtr &pObj)
std::ostream BASE_IMPEXP &	operator<< (std::ostream &o, const CPose2D &p)
CPose2D BASE_IMPEXP	operator- (const CPose2D &p)
	Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y phi)
mrpt::math::TPoint2D BASE_IMPEXP	operator+ (const CPose2D &pose, const mrpt::math::TPoint2D &pnt)
	Compose a 2D point from a new coordinate base given by a 2D pose.
bool BASE_IMPEXP	operator== (const CPose2D &p1, const CPose2D &p2)
bool BASE_IMPEXP	operator!= (const CPose2D &p1, const CPose2D &p2)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPose3DPtr &pObj)
std::ostream BASE_IMPEXP &	operator<< (std::ostream &o, const CPose3D &p)
CPose3D BASE_IMPEXP	operator- (const CPose3D &p)
	Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y z yaw pitch roll)
bool BASE_IMPEXP	operator== (const CPose3D &p1, const CPose3D &p2)
bool BASE_IMPEXP	operator!= (const CPose3D &p1, const CPose3D &p2)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPose3DInterpolatorPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPose3DPDFPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPose3DPDFGaussianPtr &pObj)
CPose3DPDFGaussian	operator+ (const CPose3DPDFGaussian &x, const CPose3DPDFGaussian &u)
	Pose composition for two 3D pose Gaussians.
CPose3DPDFGaussian	operator- (const CPose3DPDFGaussian &x, const CPose3DPDFGaussian &u)
	Pose composition for two 3D pose Gaussians.
std::ostream BASE_IMPEXP &	operator<< (std::ostream &out, const CPose3DPDFGaussian &obj)
	Dumps the mean and covariance matrix to a text stream.
bool BASE_IMPEXP	operator== (const CPose3DPDFGaussian &p1, const CPose3DPDFGaussian &p2)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPose3DPDFGaussianInfPtr &pObj)
CPose3DPDFGaussianInf	operator+ (const CPose3DPDFGaussianInf &x, const CPose3DPDFGaussianInf &u)
	Pose composition for two 3D pose Gaussians.
CPose3DPDFGaussianInf	operator- (const CPose3DPDFGaussianInf &x, const CPose3DPDFGaussianInf &u)
	Pose composition for two 3D pose Gaussians.
std::ostream BASE_IMPEXP &	operator<< (std::ostream &out, const CPose3DPDFGaussianInf &obj)
	Dumps the mean and covariance matrix to a text stream.
bool BASE_IMPEXP	operator== (const CPose3DPDFGaussianInf &p1, const CPose3DPDFGaussianInf &p2)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPose3DPDFParticlesPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPose3DPDFSOGPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPose3DQuatPtr &pObj)
std::ostream BASE_IMPEXP &	operator<< (std::ostream &o, const CPose3DQuat &p)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPose3DQuatPDFPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPose3DQuatPDFGaussianPtr &pObj)
CPose3DQuatPDFGaussian	operator+ (const CPose3DQuatPDFGaussian &x, const CPose3DQuatPDFGaussian &u)
	Pose composition for two 3D pose Gaussians.
CPose3DQuatPDFGaussian	operator- (const CPose3DQuatPDFGaussian &x, const CPose3DQuatPDFGaussian &u)
	Inverse pose composition for two 3D pose Gaussians.
std::ostream BASE_IMPEXP &	operator<< (std::ostream &out, const CPose3DQuatPDFGaussian &obj)
	Dumps the mean and covariance matrix to a text stream.
bool BASE_IMPEXP	operator== (const CPose3DQuatPDFGaussian &p1, const CPose3DQuatPDFGaussian &p2)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPosePDFPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPosePDFGaussianPtr &pObj)
CPosePDFGaussian	operator+ (const CPosePDFGaussian &a, const CPosePDFGaussian &b)
	Pose compose operator: RES = A (+) B , computing both the mean and the covariance.
CPosePDFGaussian	operator- (const CPosePDFGaussian &a, const CPosePDFGaussian &b)
	Pose inverse compose operator: RES = A (-) B , computing both the mean and the covariance.
std::ostream BASE_IMPEXP &	operator<< (std::ostream &out, const CPosePDFGaussian &obj)
	Dumps the mean and covariance matrix to a text stream.
poses::CPosePDFGaussian BASE_IMPEXP	operator+ (const mrpt::poses::CPose2D &A, const mrpt::poses::CPosePDFGaussian &B)
	Returns the Gaussian distribution of $\mathbf{C}$ , for $\mathbf{C} = \mathbf{A} \oplus \mathbf{B}$ .
bool BASE_IMPEXP	operator== (const CPosePDFGaussian &p1, const CPosePDFGaussian &p2)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPosePDFGaussianInfPtr &pObj)
CPosePDFGaussianInf	operator+ (const CPosePDFGaussianInf &a, const CPosePDFGaussianInf &b)
	Pose compose operator: RES = A (+) B , computing both the mean and the covariance.
CPosePDFGaussianInf	operator- (const CPosePDFGaussianInf &a, const CPosePDFGaussianInf &b)
	Pose inverse compose operator: RES = A (-) B , computing both the mean and the covariance.
std::ostream BASE_IMPEXP &	operator<< (std::ostream &out, const CPosePDFGaussianInf &obj)
	Dumps the mean and covariance matrix to a text stream.
poses::CPosePDFGaussianInf BASE_IMPEXP	operator+ (const mrpt::poses::CPose2D &A, const mrpt::poses::CPosePDFGaussianInf &B)
	Returns the Gaussian distribution of $\mathbf{C}$ , for $\mathbf{C} = \mathbf{A} \oplus \mathbf{B}$ .
bool BASE_IMPEXP	operator== (const CPosePDFGaussianInf &p1, const CPosePDFGaussianInf &p2)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPosePDFGridPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPosePDFParticlesPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPosePDFSOGPtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPoses2DSequencePtr &pObj)
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CPoses3DSequencePtr &pObj)
Variables
class BASE_IMPEXP	CPose3DQuat
struct BASE_IMPEXP	SE_traits
	A helper class for SE(2) and SE(3) geometry-related transformations, on-manifold optimization Jacobians, etc.

Typedef Documentation

CProbabilityParticle< CPose3D > mrpt::poses::CPose3DParticle

A type definition for m_particles containing a 3D pose.

Definition at line 46 of file CPose3DPDFParticles.h.

typedef mrpt::aligned_containers<CPose2D>::deque_t mrpt::poses::StdDeque_CPose2D

Eigen aligment-compatible container.

Definition at line 249 of file CPose2D.h.

typedef mrpt::aligned_containers<CPose2D>::vector_t mrpt::poses::StdVector_CPose2D

Eigen aligment-compatible container.

Definition at line 248 of file CPose2D.h.

typedef std::pair<mrpt::system::TTimeStamp, mrpt::poses::CPose3D> mrpt::poses::TTimePosePair

Definition at line 44 of file CPose3DInterpolator.h.

Enumeration Type Documentation

enum mrpt::poses::TConstructorFlags_Poses

Enumerator:

UNINITIALIZED_POSE

Definition at line 55 of file CPoseOrPoint.h.

Function Documentation

template<class DERIVEDCLASS >

bool mrpt::poses::operator!=	(	const CPoint< DERIVEDCLASS > &	p1,
		const CPoint< DERIVEDCLASS > &	p2
	)

Definition at line 156 of file CPoint.h.

References static_size.

bool BASE_IMPEXP mrpt::poses::operator!=	(	const CPose2D &	p1,
		const CPose2D &	p2
	)

bool BASE_IMPEXP mrpt::poses::operator!=	(	const CPose3D &	p1,
		const CPose3D &	p2
	)

CPose3DQuatPDFGaussian mrpt::poses::operator+	(	const CPose3DQuatPDFGaussian &	x,
		const CPose3DQuatPDFGaussian &	u
	)		`[inline]`

Pose composition for two 3D pose Gaussians.

See also:: CPose3DQuatPDFGaussian::operator +=

Definition at line 206 of file CPose3DQuatPDFGaussian.h.

CPosePDFGaussianInf mrpt::poses::operator+	(	const CPosePDFGaussianInf &	a,
		const CPosePDFGaussianInf &	b
	)		`[inline]`

Pose compose operator: RES = A (+) B , computing both the mean and the covariance.

Definition at line 216 of file CPosePDFGaussianInf.h.

CPose3DPDFGaussianInf mrpt::poses::operator+	(	const CPose3DPDFGaussianInf &	x,
		const CPose3DPDFGaussianInf &	u
	)		`[inline]`

Pose composition for two 3D pose Gaussians.

See also:: CPose3DPDFGaussian::operator +=

Definition at line 217 of file CPose3DPDFGaussianInf.h.

CPosePDFGaussian mrpt::poses::operator+	(	const CPosePDFGaussian &	a,
		const CPosePDFGaussian &	b
	)		`[inline]`

Pose compose operator: RES = A (+) B , computing both the mean and the covariance.

Definition at line 220 of file CPosePDFGaussian.h.

CPose3DPDFGaussian mrpt::poses::operator+	(	const CPose3DPDFGaussian &	x,
		const CPose3DPDFGaussian &	u
	)		`[inline]`

Pose composition for two 3D pose Gaussians.

See also:: CPose3DPDFGaussian::operator +=

Definition at line 229 of file CPose3DPDFGaussian.h.

poses::CPosePDFGaussianInf BASE_IMPEXP mrpt::poses::operator+	(	const mrpt::poses::CPose2D &	A,
		const mrpt::poses::CPosePDFGaussianInf &	B
	)

Returns the Gaussian distribution of $\mathbf{C}$ , for $\mathbf{C} = \mathbf{A} \oplus \mathbf{B}$ .

poses::CPosePDFGaussian BASE_IMPEXP mrpt::poses::operator+	(	const mrpt::poses::CPose2D &	A,
		const mrpt::poses::CPosePDFGaussian &	B
	)

Returns the Gaussian distribution of $\mathbf{C}$ , for $\mathbf{C} = \mathbf{A} \oplus \mathbf{B}$ .

mrpt::math::TPoint2D BASE_IMPEXP mrpt::poses::operator+	(	const CPose2D &	pose,
		const mrpt::math::TPoint2D &	pnt
	)

Compose a 2D point from a new coordinate base given by a 2D pose.

CPose3DQuatPDFGaussian mrpt::poses::operator-	(	const CPose3DQuatPDFGaussian &	x,
		const CPose3DQuatPDFGaussian &	u
	)		`[inline]`

Inverse pose composition for two 3D pose Gaussians.

See also:: CPose3DQuatPDFGaussian::operator -=

Definition at line 214 of file CPose3DQuatPDFGaussian.h.

CPosePDFGaussianInf mrpt::poses::operator-	(	const CPosePDFGaussianInf &	a,
		const CPosePDFGaussianInf &	b
	)		`[inline]`

Pose inverse compose operator: RES = A (-) B , computing both the mean and the covariance.

Definition at line 223 of file CPosePDFGaussianInf.h.

References mrpt::poses::CPosePDFGaussianInf::inverseComposition().

CPose3DPDFGaussianInf mrpt::poses::operator-	(	const CPose3DPDFGaussianInf &	x,
		const CPose3DPDFGaussianInf &	u
	)		`[inline]`

Pose composition for two 3D pose Gaussians.

See also:: CPose3DPDFGaussianInf::operator -=

Definition at line 225 of file CPose3DPDFGaussianInf.h.

CPosePDFGaussian mrpt::poses::operator-	(	const CPosePDFGaussian &	a,
		const CPosePDFGaussian &	b
	)		`[inline]`

Pose inverse compose operator: RES = A (-) B , computing both the mean and the covariance.

Definition at line 227 of file CPosePDFGaussian.h.

References mrpt::poses::CPosePDFGaussian::inverseComposition().

CPose3DPDFGaussian mrpt::poses::operator-	(	const CPose3DPDFGaussian &	x,
		const CPose3DPDFGaussian &	u
	)		`[inline]`

Pose composition for two 3D pose Gaussians.

See also:: CPose3DPDFGaussian::operator -=

Definition at line 237 of file CPose3DPDFGaussian.h.

CPose2D BASE_IMPEXP mrpt::poses::operator- ( const CPose2D & p )

Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y phi)

CPose3D BASE_IMPEXP mrpt::poses::operator- ( const CPose3D & p )

Unary - operator: return the inverse pose "-p" (Note that is NOT the same than a pose with negative x y z yaw pitch roll)

template<class DERIVEDCLASS >

bool mrpt::poses::operator<	(	const CPoint< DERIVEDCLASS > &	a,
		const CPoint< DERIVEDCLASS > &	b
	)

Used by STL algorithms.

Definition at line 134 of file CPoint.h.

References mrpt::poses::CPoseOrPoint::y().

template<class DERIVEDCLASS >

std::ostream& mrpt::poses::operator<<	(	std::ostream &	o,
		const CPoint< DERIVEDCLASS > &	p
	)

Dumps a point as a string [x,y] or [x,y,z].

Definition at line 124 of file CPoint.h.

std::ostream BASE_IMPEXP& mrpt::poses::operator<<	(	std::ostream &	out,
		const CPose3DQuatPDFGaussian &	obj
	)