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CEllipsoidRangeBearing2D.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9#ifndef opengl_CEllipsoidRangeBearing2D_H
10#define opengl_CEllipsoidRangeBearing2D_H
11
13
14namespace mrpt
15{
16 namespace opengl
17 {
18 // This must be added to any CSerializable derived class:
20
21 /** An especial "ellipsoid" in 2D computed as the uncertainty iso-surfaces of a (range,bearing) variable.
22 * The parameter space of this ellipsoid comprises these variables (in this order):
23 * - range: Distance from sensor to feature.
24 * - bearing: Angle from +X to the line that goes from the sensor towards the feature.
25 *
26 * This class expects you to provide a mean vector of length 2 and a 2x2 covariance matrix, set with \a setCovMatrixAndMean().
27 *
28 * Please read the documentation of CGeneralizedEllipsoidTemplate::setQuantiles() for learning
29 * the mathematical details about setting the desired confidence interval.
30 *
31 * <div align="center">
32 * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
33 * <tr> <td> mrpt::opengl::CEllipsoidRangeBearing2D </td> <td> \image html preview_CEllipsoidRangeBearing2D.png </td> </tr>
34 * </table>
35 * </div>
36 *
37 * \ingroup mrpt_opengl_grp
38 */
40 {
43 protected:
44 /** To be implemented by derived classes: maps, using some arbitrary space transformation, a list of points
45 * defining an ellipsoid in parameter space into their corresponding points in 2D/3D space.
46 */
48 const std::vector<BASE::array_parameter_t> &in_pts,
49 std::vector<BASE::array_point_t> & out_pts) const MRPT_OVERRIDE;
50 private:
51 /** Constructor
52 */
54 {
55 }
56 /** Private, virtual destructor: only can be deleted from smart pointers */
58 };
59 DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CEllipsoidRangeBearing2D, CRenderizableDisplayList, OPENGL_IMPEXP )
60
61 } // end namespace
62
63} // End of namespace
64
65#endif
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
An especial "ellipsoid" in 2D computed as the uncertainty iso-surfaces of a (range,...
virtual void transformFromParameterSpace(const std::vector< BASE::array_parameter_t > &in_pts, std::vector< BASE::array_point_t > &out_pts) const MRPT_OVERRIDE
To be implemented by derived classes: maps, using some arbitrary space transformation,...
virtual ~CEllipsoidRangeBearing2D()
Private, virtual destructor: only can be deleted from smart pointers.
CGeneralizedEllipsoidTemplate< 2 > BASE
A class that generalizes the concept of an ellipsoid to arbitrary parameterizations of uncertainty sh...
A renderizable object suitable for rendering with OpenGL's display lists.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Definition mrpt_macros.h:28
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.



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