55 enum { is_3D_val = 1 };
56 static inline bool is_3D() {
return is_3D_val!=0; }
57 enum { is_PDF_val = 1 };
58 static inline bool is_PDF() {
return is_PDF_val!=0; }
63 template <
class OPENGL_SETOFOBJECTSPTR>
65 typedef typename OPENGL_SETOFOBJECTSPTR::value_type SETOFOBJECTS;
66 out_obj->insertCollection( *SETOFOBJECTS::posePDF2opengl(*
this) );
72 template <
class OPENGL_SETOFOBJECTSPTR,
class OPENGL_SETOFOBJECTS>
74 typedef typename OPENGL_SETOFOBJECTSPTR::value_type SETOFOBJECTS;
75 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 class used to store a 3D point.
Declares a class that represents a Probability Distribution function (PDF) of a 3D point (x,...
void getAs3DObject(OPENGL_SETOFOBJECTSPTR &out_obj) const
Returns a 3D representation of this PDF (it doesn't clear the current contents of out_obj,...
virtual void bayesianFusion(const CPointPDF &p1, const CPointPDF &p2, const double &minMahalanobisDistToDrop=0)=0
Bayesian fusion of two point distributions (product of two distributions->new distribution),...
OPENGL_SETOFOBJECTSPTR getAs3DObject() const
Returns a 3D representation of this PDF.
virtual void copyFrom(const CPointPDF &o)=0
Copy operator, translating if necesary (for example, between particles and gaussian representations)
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.