nuklei::kernel::implementation_prototype< T > Struct Template Reference

Inheritance diagram for nuklei::kernel::implementation_prototype< T >:

Public Member Functions
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
virtual void	assertConsistency () const =0
bool	operator< (const kernel::base &k) const
	Weight-based kernel comparator.
bool	operator> (const kernel::base &k) const
	Weight-based kernel comparator.
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...
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

Additional Inherited Members
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.
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

template<class T>
struct nuklei::kernel::implementation_prototype< T >

Definition at line 278 of file Kernel.h.

Member Function Documentation

polyLinearInterpolation()

template<class T >

base::ptr nuklei::kernel::implementation_prototype< T >::polyLinearInterpolation ( const kernel::base &  k, const coord_t  x  ) const

inlinevirtual

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.

Implements nuklei::kernel::base.

Definition at line 372 of file Kernel.h.

polyPrint()

template<class T >

std::ostream& nuklei::kernel::implementation_prototype< T >::polyPrint ( std::ostream &  out ) const

inlinevirtual

Prints the kernel parameters to the provided stream.

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

Implements nuklei::kernel::base.

Definition at line 308 of file Kernel.h.

polySe3Proj()

template<class T >

NUKLEI_UNIQUE_PTR< kernel::se3 > nuklei::kernel::implementation_prototype< T >::polySe3Proj ( ) const

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.

Implements nuklei::kernel::base.

Definition at line 951 of file Kernel.h.

polySe3Sample()

template<class T >

NUKLEI_UNIQUE_PTR< kernel::se3 > nuklei::kernel::implementation_prototype< T >::polySe3Sample ( ) const

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.

Implements nuklei::kernel::base.

Definition at line 941 of file Kernel.h.

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The documentation for this struct was generated from the following file:

• libnuklei/kernel/nuklei/Kernel.h