Here is a list of all modules:
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 Using NukleiThis group contains documentation useful for working with Nuklei (as opposed to contributing to Nuklei)
 BackgroundNuklei was initially designed to model density functions defined on the Special Euclidean group \( SE(3) \) (or on a subspace thereof). This page reviews the theory behind density estimation and density integrals particularized to \( SE(3) \) data. This is the place to start if you haven't yet heard of nonparametric representations, quaternions, or von Mises-Fisher distributions. Once you feel comfortable with the material presented here (feel free to explore the references given below!), move on to Kernels, kernel density estimation, kernel regression, which explains which concepts Nuklei implements, and how they are implemented. Keep in mind that the Nuklei implementation doesn't strictly follow the text presented on this page. For instance, in the text below, 3D positions are modeled with Gaussian distributions. Nuklei, on the other hand, offers both Gaussian and triangular kernels for modeling positions, and triangular kernels are used by default in kernel density estimation and kernel logistic regression
 Kernels, kernel density estimation, kernel regressionThis page presents the kernel density estimation (KDE) and kernel logistic regression (KLR) tools provided by Nuklei
 Generic KernelsThis page presents a set of generic kernel classes provided by Nuklei. The KDE and KLR-related kernels (e.g., kernel::se3, see Kernels, kernel density estimation, kernel regression) rely on the generic kernels presented here
 Operations on PosesThis page introduces vocabulary for referring to operations on \( SE(3) \) poses
 Coding Details
 Programming Paradigms and SemanticsNuklei's code follows two distinct programming paradigms. Parts of Nuklei are written in generic C++, while other parts are written in object-oriented/polymorphic C++. Generic code (i.e., templates) is flexible and fast (static binding, allows for inlining). Unfortunately, generic code can quickly become obscure. Generic programming also restricts the range of programmers who will be comfortable with the code
 Type QueriesFunctions defined in Types.h facilitate the (de)serialization of enum labels, here refered to as types. This is useful, e.g., when reading/writing the type of an object to a file
 ConfigurationThe behavior of the functions implemented in Nuklei can be altered through environment variables:
 Contributing to NukleiThis group contains documentation useful for contributing to Nuklei
 Code OrganizationNuklei is organized in the following directories:
 Coding GuidelinesPlease read the following sections carefully before committing new code to the repository
 AcknowledgementsNuklei relies on the following libraries:
© Copyright 2007-2013 Renaud Detry.
Distributed under the terms of the GNU General Public License (GPL).
(See accompanying file LICENSE.txt or copy at
Revised Sun Sep 13 2020 19:10:15.