Detailed Description

Represents a probabilistic 3D (6D) movement.

Currently this can be determined from visual odometry for full 6D, or from wheel encoders for 2D movements only.

See also: CAction

Definition at line 28 of file CActionRobotMovement3D.h.

#include <mrpt/slam/CActionRobotMovement3D.h>

Inheritance diagram for mrpt::slam::CActionRobotMovement3D:

Public Types
enum	TEstimationMethod { emOdometry = 0, emVisualOdometry }
	A list of posible ways for estimating the content of a CActionRobotMovement3D object. More...

Public Member Functions
	CActionRobotMovement3D ()
	Constructor. More...

virtual	~CActionRobotMovement3D ()
	Destructor. 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...

Public Attributes
poses::CPose3DPDFGaussian	poseChange
	The 3D pose change probabilistic estimation. More...

poses::CPose3DQuatPDFGaussian	poseChangeQuat

TEstimationMethod	estimationMethod
	This fields indicates the way this estimation was obtained. More...

vector_bool	hasVelocities
	Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries. More...

vector_float	velocities
	The velocity of the robot in each of 6D: v_x,v_y,v_z,v_yaw,v_pitch,v_roll (linear in meters/sec and angular in rad/sec). More...

mrpt::system::TTimeStamp	timestamp
	The associated time-stamp. More...

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

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

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...

RTTI stuff
typedef CActionRobotMovement3DPtr	SmartPtr

static mrpt::utils::CLASSINIT	_init_CActionRobotMovement3D

static mrpt::utils::TRuntimeClassId	classCActionRobotMovement3D

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 CActionRobotMovement3DPtr	Create ()

Member Typedef Documentation

◆ SmartPtr

typedef CActionRobotMovement3DPtr mrpt::slam::CActionRobotMovement3D::SmartPtr

A typedef for the associated smart pointer

Definition at line 31 of file CActionRobotMovement3D.h.

Member Enumeration Documentation

◆ TEstimationMethod

enum mrpt::slam::CActionRobotMovement3D::TEstimationMethod

A list of posible ways for estimating the content of a CActionRobotMovement3D object.

Enumerator
emOdometry
emVisualOdometry

Definition at line 36 of file CActionRobotMovement3D.h.

Constructor & Destructor Documentation

◆ CActionRobotMovement3D()

mrpt::slam::CActionRobotMovement3D::CActionRobotMovement3D ( )

Constructor.

◆ ~CActionRobotMovement3D()

virtual mrpt::slam::CActionRobotMovement3D::~CActionRobotMovement3D ( )

virtual

Destructor.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CActionRobotMovement3D::_GetBaseClass ( )

staticprotected

◆ clone()

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 135 of file CObject.h.

◆ Create()

static CActionRobotMovement3DPtr mrpt::slam::CActionRobotMovement3D::Create ( )

static

◆ CreateObject()

static mrpt::utils::CObject* mrpt::slam::CActionRobotMovement3D::CreateObject ( )

static

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::slam::CActionRobotMovement3D::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.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CActionRobotMovement3D::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CAction.

◆ readFromStream()

void mrpt::slam::CActionRobotMovement3D::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.

◆ writeToStream()

void mrpt::slam::CActionRobotMovement3D::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_CActionRobotMovement3D

mrpt::utils::CLASSINIT mrpt::slam::CActionRobotMovement3D::_init_CActionRobotMovement3D

staticprotected

Definition at line 31 of file CActionRobotMovement3D.h.

◆ classCAction

const mrpt::utils::TRuntimeClassId mrpt::slam::CAction::classCAction

staticinherited

Definition at line 36 of file CAction.h.

◆ classCActionRobotMovement3D

mrpt::utils::TRuntimeClassId mrpt::slam::CActionRobotMovement3D::classCActionRobotMovement3D

static

Definition at line 31 of file CActionRobotMovement3D.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::CActionRobotMovement3D::classinfo

static

Definition at line 31 of file CActionRobotMovement3D.h.

◆ estimationMethod

TEstimationMethod mrpt::slam::CActionRobotMovement3D::estimationMethod

This fields indicates the way this estimation was obtained.

Definition at line 58 of file CActionRobotMovement3D.h.

◆ hasVelocities

vector_bool mrpt::slam::CActionRobotMovement3D::hasVelocities

Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries.

Definition at line 62 of file CActionRobotMovement3D.h.

◆ poseChange

poses::CPose3DPDFGaussian mrpt::slam::CActionRobotMovement3D::poseChange

The 3D pose change probabilistic estimation.

Definition at line 52 of file CActionRobotMovement3D.h.

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

◆ poseChangeQuat

poses::CPose3DQuatPDFGaussian mrpt::slam::CActionRobotMovement3D::poseChangeQuat

Definition at line 53 of file CActionRobotMovement3D.h.

◆ timestamp

mrpt::system::TTimeStamp mrpt::slam::CAction::timestamp

inherited

The associated time-stamp.

This was added at 2-Dec-2007, new serialization versions have been added to derived classes to manage this time-stamp. Prior versions will be read as having a INVALID_TIMESTAMP value.

Definition at line 50 of file CAction.h.

◆ velocities

vector_float mrpt::slam::CActionRobotMovement3D::velocities

The velocity of the robot in each of 6D: v_x,v_y,v_z,v_yaw,v_pitch,v_roll (linear in meters/sec and angular in rad/sec).

Definition at line 66 of file CActionRobotMovement3D.h.

Detailed Description

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ SmartPtr

Member Enumeration Documentation

◆ TEstimationMethod

Constructor & Destructor Documentation

◆ CActionRobotMovement3D()

◆ ~CActionRobotMovement3D()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create()

◆ CreateObject()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ GetRuntimeClass()

◆ readFromStream()

◆ writeToStream()

Member Data Documentation

◆ _init_CActionRobotMovement3D

◆ classCAction

◆ classCActionRobotMovement3D

◆ classCObject

◆ classCSerializable

◆ classinfo

◆ estimationMethod

◆ hasVelocities

◆ poseChange

◆ poseChangeQuat

◆ timestamp

◆ velocities