9#ifndef CPose3DQuatPDF_H
10#define CPose3DQuatPDF_H
42 public
mrpt::utils::CSerializable,
78 template <
class OPENGL_SETOFOBJECTSPTR>
80 typedef typename OPENGL_SETOFOBJECTSPTR::value_type SETOFOBJECTS;
81 out_obj->insertCollection( *SETOFOBJECTS::posePDF2opengl(*
this) );
87 template <
class OPENGL_SETOFOBJECTSPTR>
89 typedef typename OPENGL_SETOFOBJECTSPTR::value_type SETOFOBJECTS;
90 return SETOFOBJECTS::posePDF2opengl(*
this);
#define DEFINE_VIRTUAL_SERIALIZABLE(class_name)
This declaration must be inserted in virtual CSerializable classes definition:
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE(class_name, base_name)
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE(class_name, base_name)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
A numeric matrix of compile-time fixed size.
A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,...
Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually),...
void getAs3DObject(OPENGL_SETOFOBJECTSPTR &out_obj) const
Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj,...
OPENGL_SETOFOBJECTSPTR getAs3DObject() const
Returns a 3D representation of this PDF.
virtual void inverse(CPose3DQuatPDF &o) const =0
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
static CPose3DQuatPDF * createFrom2D(const CPosePDF &o)
This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (...
static void jacobiansPoseComposition(const CPose3DQuat &x, const CPose3DQuat &u, mrpt::math::CMatrixDouble77 &df_dx, mrpt::math::CMatrixDouble77 &df_du, CPose3DQuat *out_x_oplus_u=NULL)
This static method computes the two Jacobians of a pose composition operation $f(x,...
virtual void copyFrom(const CPose3DQuatPDF &o)=0
Copy operator, translating if necesary (for example, between particles and gaussian representations)
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
class BASE_IMPEXP CPosePDF
class BASE_IMPEXP CPose3DPDF
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.