C++ (Cpp) CPose3DPDFPtr::copyFrom Beispiele

Beispiel #1

Datei: CMultiMetricMapPDF.cpp Projekt: ImGeek/mrpt

/*---------------------------------------------------------------
				updateSensoryFrameSequence
  ---------------------------------------------------------------*/
void  CMultiMetricMapPDF::updateSensoryFrameSequence()
{
	MRPT_START
	CPose3DPDFParticles	posePartsPDF;
	CPose3DPDFPtr		previousPosePDF;
	CSensoryFramePtr	dummy;

	for (size_t i=0;i<SFs.size();i++)
	{
		// Get last estimation:
		SFs.get(i,previousPosePDF,dummy);

		// Compute the new one:
		getEstimatedPosePDFAtTime(SF2robotPath[i], posePartsPDF);

		// Copy into SFs:
		previousPosePDF->copyFrom( posePartsPDF );
	}

	MRPT_END
}