Detailed Description

Declares a class for storing a collection of robot actions.

It is used in mrpt::slam::CRawlog, for logs storage and particle filter based simulations.

See also: CAction, CRawlog

Definition at line 30 of file CActionCollection.h.

#include <mrpt/slam/CActionCollection.h>

Inheritance diagram for mrpt::slam::CActionCollection:

Public Types
typedef std::deque< CActionPtr >::iterator	iterator
	You can use CActionCollection::begin to get a iterator to the first element. More...

typedef std::deque< CActionPtr >::const_iterator	const_iterator
	You can use CActionCollection::begin to get a iterator to the first element. More...

Public Member Functions
	CActionCollection ()
	Constructor. More...

	CActionCollection (CAction &a)
	Constructor from a single action. More...

	CActionCollection (const CActionCollection &o)
	Copy Constructor. More...

CActionCollection &	operator= (const CActionCollection &o)
	Copy operator. More...

virtual	~CActionCollection ()
	Destructor. More...

const_iterator	begin () const
	Returns a iterator to the first action: this is an example of usage: More...

iterator	begin ()
	Returns a iterator to the first action: this is an example of usage: More...

const_iterator	end () const
	Returns a iterator pointing to the end of the list: this is an example of usage: More...

iterator	end ()
	Returns a iterator pointing to the end of the list: this is an example of usage: More...

iterator	erase (const iterator &it)
	Removes the given action in the list, and return an iterator to the next element (or this->end() if it was the last one). More...

void	clear ()
	Erase all actions from the list. More...

CActionPtr	get (size_t index)
	Access the i'th action.DO NOT MODIFY the returned object, make a copy of ir with "CSerializable::duplicate" if desired. More...

template<typename T >
T::SmartPtr	getActionByClass (const size_t &ith=0) const
	Access to the i'th action of a given class, or a NULL smart pointer if there is no action of that class in the list. More...

void	insert (CAction &action)
	Add a new object to the list. More...

size_t	size ()
	Returns the actions count in the collection. More...

CActionRobotMovement2DPtr	getBestMovementEstimation () const
	Returns the best pose increment estimator in the collection, based on the determinant of its pose change covariance matrix. More...

CActionRobotMovement2DPtr	getMovementEstimationByType (CActionRobotMovement2D::TEstimationMethod method)
	Returns the pose increment estimator in the collection having the specified type. More...

bool	getFirstMovementEstimationMean (CPose3D &out_pose_increment) const
	Look for the first 2D or 3D "odometry" found in this collection of actions, and return the "mean" increment of the robot according to it. More...

bool	getFirstMovementEstimation (CPose3DPDFGaussian &out_pose_increment) const
	Look for the first 2D or 3D "odometry" found in this collection of actions, and return the "mean" increment of the robot and its covariance according to it. More...

void	eraseByIndex (const size_t &index)
	Remove an action from the list by its index. More...

mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

CObject *	clone () const
	Cloning interface for smart pointers. More...

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version)
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

Protected Attributes
std::deque< CActionPtr >	m_actions
	The actions: More...

RTTI stuff
typedef CActionCollectionPtr	SmartPtr

static mrpt::utils::CLASSINIT	_init_CActionCollection

static mrpt::utils::TRuntimeClassId	classCActionCollection

static const mrpt::utils::TRuntimeClassId *	classinfo

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime. More...

virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...

static mrpt::utils::CObject *	CreateObject ()

static CActionCollectionPtr	Create ()

Member Typedef Documentation

◆ const_iterator

typedef std::deque<CActionPtr>::const_iterator mrpt::slam::CActionCollection::const_iterator

You can use CActionCollection::begin to get a iterator to the first element.

Definition at line 67 of file CActionCollection.h.

◆ iterator

typedef std::deque<CActionPtr>::iterator mrpt::slam::CActionCollection::iterator

You can use CActionCollection::begin to get a iterator to the first element.

Definition at line 63 of file CActionCollection.h.

◆ SmartPtr

typedef CActionCollectionPtr mrpt::slam::CActionCollection::SmartPtr

A typedef for the associated smart pointer

Definition at line 33 of file CActionCollection.h.

Constructor & Destructor Documentation

◆ CActionCollection() [1/3]

mrpt::slam::CActionCollection::CActionCollection ( )

Constructor.

◆ CActionCollection() [2/3]

mrpt::slam::CActionCollection::CActionCollection ( CAction & a )

Constructor from a single action.

◆ CActionCollection() [3/3]

mrpt::slam::CActionCollection::CActionCollection ( const CActionCollection & o )

Copy Constructor.

◆ ~CActionCollection()

virtual mrpt::slam::CActionCollection::~CActionCollection ( )

virtual

Destructor.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CActionCollection::_GetBaseClass ( )

staticprotected

◆ begin() [1/2]

const_iterator mrpt::slam::CActionCollection::begin ( ) const

inline

Returns a iterator to the first action: this is an example of usage:

CActionCollection  acts;
...
for (CActionCollection::iterator it=acts.begin();it!=acts.end();++it)
    {
   (*it)->... // (*it) is a "CActionPtr"
}

Definition at line 80 of file CActionCollection.h.

◆ begin() [2/2]

iterator mrpt::slam::CActionCollection::begin ( )

inline

Returns a iterator to the first action: this is an example of usage:

CActionCollection  acts;
...
for (CActionCollection::iterator it=acts.begin();it!=acts.end();++it)
    {
   (*it)->... // (*it) is a "CActionPtr"
}

Definition at line 93 of file CActionCollection.h.

◆ clear()

void mrpt::slam::CActionCollection::clear ( )

Erase all actions from the list.

◆ clone()

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 135 of file CObject.h.

◆ Create()

static CActionCollectionPtr mrpt::slam::CActionCollection::Create ( )

static

◆ CreateObject()

static mrpt::utils::CObject* mrpt::slam::CActionCollection::CreateObject ( )

static

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::slam::CActionCollection::duplicate ( ) const

virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 132 of file CObject.h.

◆ end() [1/2]

const_iterator mrpt::slam::CActionCollection::end ( ) const

inline

Returns a iterator pointing to the end of the list: this is an example of usage:

CActionCollection  acts;
...
for (CActionCollection::iterator it=acts.begin();it!=acts.end();++it)
    {
   (*it)->... // (*it) is a "CActionPtr"
}

Definition at line 106 of file CActionCollection.h.

◆ end() [2/2]

iterator mrpt::slam::CActionCollection::end ( )

inline

Returns a iterator pointing to the end of the list: this is an example of usage:

CActionCollection  acts;
...
for (CActionCollection::iterator it=acts.begin();it!=acts.end();++it)
    {
   (*it)->... // (*it) is a "CActionPtr"
}

Definition at line 119 of file CActionCollection.h.

◆ erase()

iterator mrpt::slam::CActionCollection::erase ( const iterator & it )

Removes the given action in the list, and return an iterator to the next element (or this->end() if it was the last one).

◆ eraseByIndex()

void mrpt::slam::CActionCollection::eraseByIndex ( const size_t & index )

Remove an action from the list by its index.

Exceptions

std::exception On index out of bounds.

◆ get()

CActionPtr mrpt::slam::CActionCollection::get ( size_t index )

Access the i'th action.DO NOT MODIFY the returned object, make a copy of ir with "CSerializable::duplicate" if desired.

First element is 0.

Exceptions

std::exception On index out of bounds.

◆ getActionByClass()

template<typename T >

T::SmartPtr mrpt::slam::CActionCollection::getActionByClass ( const size_t & ith = 0 ) const

inline

Access to the i'th action of a given class, or a NULL smart pointer if there is no action of that class in the list.

Example:

CActionRobotMovement2DPtr obs = acts->getActionByClass<CActionRobotMovement2D>();

By default (ith=0), the first one is returned.

Definition at line 144 of file CActionCollection.h.

References begin(), end(), MRPT_END, and MRPT_START.

Referenced by mrpt::slam::PF_implementation< CPose2D, CMonteCarloLocalization2D >::PF_SLAM_implementation_gatherActionsCheckBothActObs(), and mrpt::slam::PF_implementation< CPose2D, CMonteCarloLocalization2D >::PF_SLAM_implementation_pfStandardProposal().

◆ getBestMovementEstimation()

CActionRobotMovement2DPtr mrpt::slam::CActionCollection::getBestMovementEstimation ( ) const

Returns the best pose increment estimator in the collection, based on the determinant of its pose change covariance matrix.

Returns: The estimation, or NULL if none is available.

Referenced by mrpt::slam::PF_implementation< CPose2D, CMonteCarloLocalization2D >::PF_SLAM_implementation_gatherActionsCheckBothActObs(), and mrpt::slam::PF_implementation< CPose2D, CMonteCarloLocalization2D >::PF_SLAM_implementation_pfStandardProposal().

◆ getFirstMovementEstimation()

bool mrpt::slam::CActionCollection::getFirstMovementEstimation ( CPose3DPDFGaussian & out_pose_increment ) const

Look for the first 2D or 3D "odometry" found in this collection of actions, and return the "mean" increment of the robot and its covariance according to it.

Returns: true on success,false on no odometry found.

◆ getFirstMovementEstimationMean()

bool mrpt::slam::CActionCollection::getFirstMovementEstimationMean ( CPose3D & out_pose_increment ) const

Look for the first 2D or 3D "odometry" found in this collection of actions, and return the "mean" increment of the robot according to it.

Returns: true on success,false on no odometry found.

◆ getMovementEstimationByType()

CActionRobotMovement2DPtr mrpt::slam::CActionCollection::getMovementEstimationByType ( CActionRobotMovement2D::TEstimationMethod method )

Returns the pose increment estimator in the collection having the specified type.

Returns: The estimation, or NULL if none is available.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CActionCollection::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ insert()

void mrpt::slam::CActionCollection::insert ( CAction & action )

Add a new object to the list.

◆ operator=()

CActionCollection& mrpt::slam::CActionCollection::operator= ( const CActionCollection & o )

Copy operator.

◆ readFromStream()

void mrpt::slam::CActionCollection::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

◆ size()

size_t mrpt::slam::CActionCollection::size ( )

Returns the actions count in the collection.

◆ writeToStream()

void mrpt::slam::CActionCollection::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Member Data Documentation

◆ _init_CActionCollection

mrpt::utils::CLASSINIT mrpt::slam::CActionCollection::_init_CActionCollection

staticprotected

Definition at line 33 of file CActionCollection.h.

◆ classCActionCollection

mrpt::utils::TRuntimeClassId mrpt::slam::CActionCollection::classCActionCollection

static

Definition at line 33 of file CActionCollection.h.

◆ classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 120 of file CObject.h.

◆ classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 35 of file CSerializable.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::slam::CActionCollection::classinfo

static

Definition at line 33 of file CActionCollection.h.

◆ m_actions

std::deque<CActionPtr> mrpt::slam::CActionCollection::m_actions

protected

The actions:

Definition at line 38 of file CActionCollection.h.

Detailed Description

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

RTTI stuff

Member Typedef Documentation

◆ const_iterator

◆ iterator

◆ SmartPtr

Constructor & Destructor Documentation

◆ CActionCollection() [1/3]

◆ CActionCollection() [2/3]

◆ CActionCollection() [3/3]

◆ ~CActionCollection()

Member Function Documentation

◆ _GetBaseClass()

◆ begin() [1/2]

◆ begin() [2/2]

◆ clear()

◆ clone()

◆ Create()

◆ CreateObject()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ end() [1/2]

◆ end() [2/2]

◆ erase()

◆ eraseByIndex()

◆ get()

◆ getActionByClass()

◆ getBestMovementEstimation()

◆ getFirstMovementEstimation()

◆ getFirstMovementEstimationMean()

◆ getMovementEstimationByType()

◆ GetRuntimeClass()

◆ insert()

◆ operator=()

◆ readFromStream()

◆ size()

◆ writeToStream()

Member Data Documentation

◆ _init_CActionCollection

◆ classCActionCollection

◆ classCObject

◆ classCSerializable

◆ classinfo

◆ m_actions