nuklei::kernel::se3 Class Reference

Inheritance diagram for nuklei::kernel::se3:

Public Types
typedef NUKLEI_UNIQUE_PTR< kernel::se3 >	ptr
typedef nuklei::unnormalized_shape_dist_kernel< groupS::r3, shapeS::triangle >	PositionKernel
typedef von_mises_fisher_kernel< groupS::so3 >	OrientationKernel
Public Types inherited from nuklei::kernel::base
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
	se3 (const kernel::base &k)
void	assertConsistency () const
std::ostream &	print (std::ostream &out) const
coord_t	getLocH () const
	Get the location bandwidth.
void	setLocH (const coord_t h)
	Set the location bandwidth.
coord_t	getOriH () const
	Get the orientation bandwidth. More...
void	setOriH (const coord_t h)
	Set the orientation bandwidth. More...
Type	type () const
coord_t	eval (const kernel::se3 &k) const
	Evaluates this kernel at pose k. More...
coord_t	cutPoint () const
kernel::se3	sample () const
	Returns a sample taken from this kernel. More...
kernel::se3	se3Sample () const
kernel::se3	se3Proj () const
kernel::se3	projectedOn (const kernel::se3 &k) const
kernel::se3	transformedWith (const kernel::se3 &k) const
void	makeTransformWith (const kernel::se3 &k)
kernel::se3	transformationFrom (const kernel::se3 &k) const
kernel::se3	inverseTransformation () const
kernel::se3	linearInterpolation (const kernel::se3 &k, const coord_t x) const
void	updateWidth (const kernel::se3 &k, const coord_t x=.5)
coord_pair	distanceTo (const kernel::se3 &k) const
Public Member Functions inherited from nuklei::kernel::implementation_prototype< se3 >
base::ptr	clone () const
	Clone the kernel.
base::ptr	create () const
	Create a new kernel of the same type.
Vector3	getLoc () const
	Get the location component of the kernel.
void	setLoc (const Vector3 &v)
	Set the location component of the kernel.
std::ostream &	polyPrint (std::ostream &out) const
	Prints the kernel parameters to the provided stream. More...
Type	polyType () const
	Get the "kernel type", i.e., its domain of definition.
coord_t	polyEval (const base &k) const
	Evaluate the kernel at the location/orientation of k.
coord_t	polyCutPoint () const
	Distance (from the origin) at which the value of the kernel becomes zero.
base::ptr	polySample () const
	Get a sample from the kernel.
NUKLEI_UNIQUE_PTR< kernel::se3 >	polySe3Sample () const
	Get an \( SE(3) \) sample from the kernel. More...
NUKLEI_UNIQUE_PTR< kernel::se3 >	polySe3Proj () const
	Get an \( SE(3) \) version of the kernel. More...
base::ptr	polyProjectedOn (const kernel::se3 &k) const
	Projects *this onto k and returns the result. (See Operations on Poses.)
base::ptr	polyTransformedWith (const kernel::se3 &k) const
	Transforms *this with k and returns the result. (See Operations on Poses.)
void	polyMakeTransformWith (const kernel::se3 &k)
	Transforms *this with k and sets *this to the result. (See Operations on Poses.)
base::ptr	polyLinearInterpolation (const kernel::base &k, const coord_t x) const
	Interpolates between *this and k. More...
void	polyUpdateWidth (const kernel::base &k, const coord_t x=.5)
	Used internally.
coord_pair	polyDistanceTo (const kernel::base &k) const
	Returns a std::pair containing the distance in position and orientation between *this and k.
Public Member Functions inherited from nuklei::kernel::base
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 Type	polyType () const =0
	Get the "kernel type", i.e., its domain of definition.
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...
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

Public Attributes
Vector3	loc_
	Kernel location.
Quaternion	ori_
	Kernel orientation.
coord_t	loc_h_
	Location bandwidth.
coord_t	ori_h_
	Orientation bandwidth, in radians.

Friends
class	NUKLEI_SERIALIZATION_FRIEND_CLASSNAME

Additional Inherited Members
Static Public Attributes inherited from nuklei::kernel::base
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 inherited from nuklei::kernel::base
	base (const base &k)
base &	operator= (const base &k)
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)
Protected Attributes inherited from nuklei::kernel::base
weight_t	w_
int	flag1_
bitfield_t	bitfield_
NUKLEI_UNIQUE_PTR< Descriptor >	desc_

Detailed Description

Definition at line 404 of file Kernel.h.

Member Function Documentation

eval()

coord_t nuklei::kernel::se3::eval ( const kernel::se3 &  k ) const

inline

Evaluates this kernel at pose k.

This function returns

\[ \mathcal K_{SE(3)}\left(\lambda, \theta ; \mu_t, \mu_r, \sigma_t, \sigma_r\right), \]

where the arguments of \( \mathcal K_{SE(3)} \) are respectively equal to k.loc_, k.ori_, this->loc_, this->ori_, this->loc_h_, this->ori_h_. See Kernels, kernel density estimation, kernel regression for the definition of \( \mathcal K_{SE(3)} \).

Note: this->ori_h_ should be expressed in radians.

Definition at line 709 of file Kernel.h.

References loc_, and loc_h_.

getOriH()

coord_t nuklei::kernel::se3::getOriH ( ) const

inlinevirtual

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.

Implements nuklei::kernel::base.

Definition at line 428 of file Kernel.h.

References ori_h_.

sample()

kernel::se3 nuklei::kernel::se3::sample

(

)

const

Returns a sample taken from this kernel.

This function returns a sample \( (\lambda, \theta) \) drawn from

\[ \mathcal K'_{SE(3)}\left(\lambda, \theta ; \mu_t, \mu_r, \sigma_t, \sigma_r\right), \]

where the four last arguments of \( \mathcal K'_{SE(3)} \) are respectively equal to this->loc_, this->ori_, this->loc_h_, this->ori_h_. See Kernels, kernel density estimation, kernel regression for the definition of \( \mathcal K'_{SE(3)} \).

Note: this->ori_h_ should be expressed in radians.

Definition at line 61 of file Kernel.cpp.

References loc_, loc_h_, ori_, and ori_h_.

setOriH()

void nuklei::kernel::se3::setOriH ( const coord_t  h )

inlinevirtual

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.

Implements nuklei::kernel::base.

Definition at line 429 of file Kernel.h.

References ori_h_.

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

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