Polymorphic kernel class. More...

#include <Kernel.h>

Inheritance diagram for nuklei::kernel::base:

Classes
struct	WeightAccessor
	Weight accessor for kernel::base. The accessor is used internally. Normal Nuklei users will generally not need it. More...

Public Types
enum	Type { R3 = 0, R3XS2, R3XS2P, SE3, UNKNOWN }
	Explicit query of a kernel's type. See Type Queries for more info.

typedef NUKLEI_UNIQUE_PTR< kernel::base >	ptr
	NUKLEI_UNIQUE_PTR for kernel::base.

Public Member Functions
virtual void	assertConsistency () const =0

virtual std::ostream &	polyPrint (std::ostream &out) const =0
	Prints the kernel parameters to the provided stream. More...

bool	operator< (const kernel::base &k) const
	Weight-based kernel comparator.

bool	operator> (const kernel::base &k) const
	Weight-based kernel comparator.

virtual base::ptr	clone () const =0
	Clone the kernel.

virtual base::ptr	create () const =0
	Create a new kernel of the same type.

virtual Vector3	getLoc () const =0
	Get the location component of the kernel.

virtual void	setLoc (const Vector3 &v)=0
	Set the location component of the kernel.

virtual coord_t	getLocH () const =0
	Get the location bandwidth.

virtual void	setLocH (const coord_t h)=0
	Set the location bandwidth.

virtual coord_t	getOriH () const =0
	Get the orientation bandwidth. More...

virtual void	setOriH (const coord_t h)=0
	Set the orientation bandwidth. More...

virtual Type	polyType () const =0
	Get the "kernel type", i.e., its domain of definition.

virtual coord_t	polyEval (const base &k) const =0
	Evaluate the kernel at the location/orientation of `k`.

virtual coord_t	polyCutPoint () const =0
	Distance (from the origin) at which the value of the kernel becomes zero.

virtual base::ptr	polySample () const =0
	Get a sample from the kernel.

virtual NUKLEI_UNIQUE_PTR< kernel::se3 >	polySe3Sample () const =0
	Get an \( SE(3) \) sample from the kernel. More...

virtual NUKLEI_UNIQUE_PTR< kernel::se3 >	polySe3Proj () const =0
	Get an \( SE(3) \) version of the kernel. More...

virtual base::ptr	polyTransformedWith (const kernel::se3 &k) const =0
	Transforms `*this` with `k` and returns the result. (See Operations on Poses.)

virtual void	polyMakeTransformWith (const kernel::se3 &k)=0
	Transforms `this` with `k` and sets `this` to the result. (See Operations on Poses.)

virtual base::ptr	polyProjectedOn (const kernel::se3 &k) const =0
	Projects `*this` onto `k` and returns the result. (See Operations on Poses.)

virtual base::ptr	polyLinearInterpolation (const kernel::base &k, const coord_t x=.5) const =0
	Interpolates between `*this` and `k`. More...

virtual void	polyUpdateWidth (const kernel::base &k, const coord_t x=.5)=0
	Used internally.

virtual coord_pair	polyDistanceTo (const kernel::base &k) const =0
	Returns a std::pair containing the distance in position and orientation between `*this` and `k`.

weight_t	getWeight () const
	Returns this kernel's weight.

void	setWeight (const weight_t w)
	Sets this kernel's weight.

bool	hasDescriptor () const

Descriptor &	getDescriptor ()

const Descriptor &	getDescriptor () const

void	setDescriptor (const Descriptor &desc)

void	clearDescriptor ()

void	setFlag (bitfield_t flag)

void	resetFlag (bitfield_t flag)

bool	getFlag (bitfield_t flag) const

Static Public Attributes
static const Type	defaultType = SE3
	Explicit query of a kernel's type. See Type Queries for more info.

static const std::string	TypeNames [] = { "r3", "r3xs2", "r3xs2p", "se3" }
	Explicit query of a kernel's type. See Type Queries for more info.

Protected Member Functions
	base (const base &k)

base &	operator= (const base &k)

template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

Protected Attributes
weight_t	w_

int	flag1_

bitfield_t	bitfield_

NUKLEI_UNIQUE_PTR< Descriptor >	desc_

Friends
class	NUKLEI_SERIALIZATION_FRIEND_CLASSNAME

std::ostream &	operator<< (std::ostream &out, const kernel::base &k)
	Calls polyPrint.

Detailed Description

Polymorphic kernel class.

This class serves as an abstract base for kernels defined on various subspaces of \( SE(3) \). See Kernels, kernel density estimation, kernel regression for a discussion of what a kernel is. See Programming Paradigms and Semantics for an overview and motivation of the kernel class hierarchy.

See Programming Paradigms and Semantics for an explanation of why some of the methods begin with poly.

In Nuklei, the kernel classes (kernel::base and its descendants) play the double role of representing kernels and points. For instance, there is no class specifically designed for holding an \( SE(3) \) point, the class kernel::se3 is used for that purpose.

Definition at line 45 of file Kernel.h.

Member Function Documentation

◆ getOriH()

virtual coord_t nuklei::kernel::base::getOriH ( ) const

pure virtual

Get the orientation bandwidth.

This method is implemented in child classes. In classes that do not have an orientation (or a direction), this method returns 0.

Implemented in nuklei::kernel::r3, nuklei::kernel::r3xs2_base< OriGrp >, and nuklei::kernel::se3.

◆ polyLinearInterpolation()

virtual base::ptr nuklei::kernel::base::polyLinearInterpolation	(	const kernel::base &	k,
		const coord_t	x = `.5`
	)		const

pure virtual

Interpolates between *this and k.

For x = 0, this function returns *this. If x = 1, it returns k. For orientation, interpolation is done in Euclidean space. Slerp should be used instead. To be fixed soon.

Implemented in nuklei::kernel::implementation_prototype< T >, nuklei::kernel::implementation_prototype< r3xs2_base< OriGrp > >, nuklei::kernel::implementation_prototype< r3 >, and nuklei::kernel::implementation_prototype< se3 >.

◆ polyPrint()

virtual std::ostream& nuklei::kernel::base::polyPrint ( std::ostream & out ) const

pure virtual

Prints the kernel parameters to the provided stream.

The purpose of this method is debugging. It shouldn't be used for serialization.

Implemented in nuklei::kernel::implementation_prototype< T >, nuklei::kernel::implementation_prototype< r3xs2_base< OriGrp > >, nuklei::kernel::implementation_prototype< r3 >, and nuklei::kernel::implementation_prototype< se3 >.

◆ polySe3Proj()

virtual NUKLEI_UNIQUE_PTR<kernel::se3> nuklei::kernel::base::polySe3Proj ( ) const

pure virtual

Get an \( SE(3) \) version of the kernel.

Take a sample from the kernel. If the kernel is defined on a subspace of \( SE(3) \), make it \( SE(3) \) by selecting random values from a uniform distribution for the extra DOFs.

Implemented in nuklei::kernel::implementation_prototype< T >.

◆ polySe3Sample()

virtual NUKLEI_UNIQUE_PTR<kernel::se3> nuklei::kernel::base::polySe3Sample ( ) const

pure virtual

Get an \( SE(3) \) sample from the kernel.

Take a sample from the kernel. If the kernel is defined on a subspace of \( SE(3) \), make the sample \( SE(3) \) by selecting random values from a uniform distribution for the extra DOFs.

Implemented in nuklei::kernel::implementation_prototype< T >.

◆ setOriH()

virtual void nuklei::kernel::base::setOriH ( const coord_t h )

pure virtual

Set the orientation bandwidth.

This method is implemented in child classes. In classes that do not have an orientation (or a direction), this method does nothing.

Implemented in nuklei::kernel::r3, nuklei::kernel::r3xs2_base< OriGrp >, and nuklei::kernel::se3.

The documentation for this class was generated from the following files:

libnuklei/kernel/nuklei/Kernel.h
libnuklei/kernel/Kernel.cpp

Classes

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Function Documentation

◆ getOriH()

◆ polyLinearInterpolation()

◆ polyPrint()

◆ polySe3Proj()

◆ polySe3Sample()

◆ setOriH()