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70 const CPose3D& newReferenceBase) = 0;
94 template <
class OPENGL_SETOFOBJECTSPTR>
97 using SETOFOBJECTS =
typename OPENGL_SETOFOBJECTSPTR::value_type;
105 template <
class OPENGL_SETOFOBJECTSPTR>
108 using SETOFOBJECTS =
typename OPENGL_SETOFOBJECTSPTR::value_type;
Declares a class that represents a Probability Density Function (PDF) of a 3D pose (6D actually),...
virtual void copyFrom(const CPose3DQuatPDF &o)=0
Copy operator, translating if necesary (for example, between particles and gaussian representations)
virtual void changeCoordinatesReference(const CPose3D &newReferenceBase)=0
A generic template for probability density distributions (PDFs).
A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,...
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
CSetOfObjects::Ptr posePDF2opengl(const POSE_PDF &o)
Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call...
virtual void inverse(CPose3DQuatPDF &o) const =0
Returns a new PDF such as: NEW_PDF = (0,0,0) - THIS_PDF.
static void jacobiansPoseComposition(const CPose3DQuat &x, const CPose3DQuat &u, mrpt::math::CMatrixDouble77 &df_dx, mrpt::math::CMatrixDouble77 &df_du, CPose3DQuat *out_x_oplus_u=nullptr)
This static method computes the two Jacobians of a pose composition operation $f(x,...
static CPose3DQuatPDF * createFrom2D(const CPosePDF &o)
This is a static transformation method from 2D poses to 3D PDFs, preserving the representation type (...
A compile-time fixed-size numeric matrix container.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
void getAs3DObject(OPENGL_SETOFOBJECTSPTR &out_obj) const
Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj,...
The virtual base class which provides a unified interface for all persistent objects in MRPT.
#define DEFINE_VIRTUAL_SERIALIZABLE(class_name)
This declaration must be inserted in virtual CSerializable classes definition:
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
OPENGL_SETOFOBJECTSPTR getAs3DObject() const
Returns a 3D representation of this PDF.
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