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mrpt::slam::CActionRobotMovement3D Class Reference

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:
Inheritance graph
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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...
 
CObjectclone () 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::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CActionRobotMovement3DPtr Create ()
 

Member Typedef Documentation

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 31 of file CActionRobotMovement3D.h.

Member Enumeration Documentation

◆ 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
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn 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
outThe output binary stream where object must be dumped.
getVersionIf 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::exceptionOn 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

◆ 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.




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