Detailed Description

Declares a class for storing a collection of robot actions.

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

See also: CAction, CRawlog

Definition at line 31 of file obs/CActionCollection.h.

#include <mrpt/obs/CActionCollection.h>

Inheritance diagram for mrpt::obs::CActionCollection:

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

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

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) throw ()

void	operator delete[] (void *ptr) throw ()

void	operator delete (void memory, void ptr) throw ()

void *	operator new (size_t size, const std::nothrow_t &) throw ()

void	operator delete (void *ptr, const std::nothrow_t &) throw ()

	CActionCollection ()
	ctor More...

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

const CAction &	get (size_t index) const

template<typename T >
T::Ptr	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 (mrpt::poses::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 (mrpt::poses::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...

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. 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 Member Functions
static void *	operator new (size_t size, void *ptr)

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< mrpt::utils::poly_ptr_ptr< CActionPtr > >	m_actions
	The robot "actionss". More...

RTTI stuff
typedef CActionCollectionPtr	Ptr

typedef CActionCollectionPtr	ConstPtr

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<mrpt::utils::poly_ptr_ptr<CActionPtr> >::const_iterator mrpt::obs::CActionCollection::const_iterator

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

Definition at line 49 of file obs/CActionCollection.h.

◆ ConstPtr

typedef CActionCollectionPtr mrpt::obs::CActionCollection::ConstPtr

Definition at line 34 of file obs/CActionCollection.h.

◆ iterator

typedef std::deque<mrpt::utils::poly_ptr_ptr<CActionPtr> >::iterator mrpt::obs::CActionCollection::iterator

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

Definition at line 45 of file obs/CActionCollection.h.

◆ Ptr

typedef CActionCollectionPtr mrpt::obs::CActionCollection::Ptr

A typedef for the associated smart pointer

Definition at line 34 of file obs/CActionCollection.h.

Constructor & Destructor Documentation

◆ CActionCollection() [1/2]

CActionCollection::CActionCollection ( )

ctor

Definition at line 32 of file CActionCollection.cpp.

◆ CActionCollection() [2/2]

CActionCollection::CActionCollection ( CAction & a )

Constructor from a single action.

Definition at line 39 of file CActionCollection.cpp.

References m_actions.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ begin() [1/2]

const_iterator mrpt::obs::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 62 of file obs/CActionCollection.h.

Referenced by getBestMovementEstimation(), getMovementEstimationByType(), readFromStream(), and writeToStream().

◆ begin() [2/2]

iterator mrpt::obs::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 75 of file obs/CActionCollection.h.

◆ clear()

void CActionCollection::clear ( )

Erase all actions from the list.

Definition at line 88 of file CActionCollection.cpp.

References m_actions.

Referenced by readFromStream().

◆ clone()

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

◆ Create()

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

static

Referenced by mrpt::obs::CRawlog::addAction().

◆ CreateObject()

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

static

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::obs::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 140 of file CObject.h.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

◆ end() [1/2]

const_iterator mrpt::obs::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 88 of file obs/CActionCollection.h.

Referenced by erase(), getBestMovementEstimation(), getMovementEstimationByType(), readFromStream(), and writeToStream().

◆ end() [2/2]

iterator mrpt::obs::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 101 of file obs/CActionCollection.h.

◆ erase()

CActionCollection::iterator 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).

Definition at line 205 of file CActionCollection.cpp.

References ASSERT_, end(), m_actions, MRPT_END, and MRPT_START.

◆ eraseByIndex()

void CActionCollection::eraseByIndex ( const size_t & index )

Remove an action from the list by its index.

Exceptions

std::exception On index out of bounds.

Definition at line 168 of file CActionCollection.cpp.

References m_actions, and THROW_EXCEPTION.

◆ get() [1/2]

CActionPtr 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.

Definition at line 96 of file CActionCollection.cpp.

References m_actions, and THROW_EXCEPTION.

◆ get() [2/2]

const CAction & CActionCollection::get ( size_t index ) const

Definition at line 104 of file CActionCollection.cpp.

References m_actions, and THROW_EXCEPTION.

◆ getActionByClass()

template<typename T >

T::Ptr mrpt::obs::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 127 of file obs/CActionCollection.h.

References begin(), MRPT_END, and MRPT_START.

Referenced by mrpt::slam::PF_implementation< mrpt::poses::CPose3D, CMonteCarloLocalization3D >::PF_SLAM_implementation_gatherActionsCheckBothActObs(), mrpt::slam::PF_implementation< mrpt::poses::CPose3D, CMonteCarloLocalization3D >::PF_SLAM_implementation_pfStandardProposal(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

◆ getBestMovementEstimation()

CActionRobotMovement2DPtr 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.

Definition at line 133 of file CActionCollection.cpp.

References begin(), CLASS_ID, det(), mrpt::obs::CActionRobotMovement2D::emScan2DMatching, and end().

Referenced by mrpt::slam::PF_implementation< mrpt::poses::CPose3D, CMonteCarloLocalization3D >::PF_SLAM_implementation_gatherActionsCheckBothActObs(), mrpt::slam::PF_implementation< mrpt::poses::CPose3D, CMonteCarloLocalization3D >::PF_SLAM_implementation_pfStandardProposal(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), and mrpt::slam::CMetricMapBuilderICP::processActionObservation().

◆ getFirstMovementEstimation()

bool CActionCollection::getFirstMovementEstimation ( mrpt::poses::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.

Definition at line 238 of file CActionCollection.cpp.

References mrpt::poses::CPose3DPDFGaussian::copyFrom().

◆ getFirstMovementEstimationMean()

bool CActionCollection::getFirstMovementEstimationMean ( mrpt::poses::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.

Definition at line 218 of file CActionCollection.cpp.

◆ getMovementEstimationByType()

CActionRobotMovement2DPtr 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.

Definition at line 180 of file CActionCollection.cpp.

References begin(), CLASS_ID, and end().

◆ GetRuntimeClass()

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

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ insert()

void CActionCollection::insert ( CAction & action )

Add a new object to the list.

Definition at line 124 of file CActionCollection.cpp.

References mrpt::utils::CObject::duplicate(), and m_actions.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

◆ operator delete() [1/3]

void mrpt::obs::CActionCollection::operator delete	(	void *	ptr	)
throw	(
	)

inline

Definition at line 34 of file obs/CActionCollection.h.

◆ operator delete() [2/3]

void mrpt::obs::CActionCollection::operator delete	(	void *	memory,
		void *	ptr
	)
throw	(
	)

inline

Definition at line 34 of file obs/CActionCollection.h.

◆ operator delete() [3/3]

void mrpt::obs::CActionCollection::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 34 of file obs/CActionCollection.h.

◆ operator delete[]()

void mrpt::obs::CActionCollection::operator delete[]	(	void *	ptr	)
throw	(
	)

inline

Definition at line 34 of file obs/CActionCollection.h.

◆ operator new() [1/3]

void* mrpt::obs::CActionCollection::operator new	(	size_t	size,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 34 of file obs/CActionCollection.h.

◆ operator new() [2/3]

static void* mrpt::obs::CActionCollection::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 34 of file obs/CActionCollection.h.

◆ operator new() [3/3]

void* mrpt::obs::CActionCollection::operator new ( size_t size )

inline

Definition at line 34 of file obs/CActionCollection.h.

◆ operator new[]()

void* mrpt::obs::CActionCollection::operator new[] ( size_t size )

inline

Definition at line 34 of file obs/CActionCollection.h.

◆ readFromStream()

void 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.

Definition at line 65 of file CActionCollection.cpp.

References begin(), clear(), end(), m_actions, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

◆ size()

size_t CActionCollection::size ( )

Returns the actions count in the collection.

Definition at line 116 of file CActionCollection.cpp.

References m_actions.

◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

◆ writeToStream()

void 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.

Definition at line 47 of file CActionCollection.cpp.

References begin(), end(), m_actions, and version.

Member Data Documentation

◆ _init_CActionCollection

mrpt::utils::CLASSINIT mrpt::obs::CActionCollection::_init_CActionCollection

staticprotected

Definition at line 34 of file obs/CActionCollection.h.

◆ classCActionCollection

mrpt::utils::TRuntimeClassId mrpt::obs::CActionCollection::classCActionCollection

static

Definition at line 34 of file obs/CActionCollection.h.

◆ classCObject

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

staticinherited

Definition at line 128 of file CObject.h.

◆ classCSerializable

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

staticinherited

Definition at line 42 of file CSerializable.h.

◆ classinfo

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

static

Definition at line 34 of file obs/CActionCollection.h.

◆ m_actions

std::deque<mrpt::utils::poly_ptr_ptr<CActionPtr> > mrpt::obs::CActionCollection::m_actions

protected

The robot "actionss".

Definition at line 37 of file obs/CActionCollection.h.

Referenced by CActionCollection(), clear(), erase(), eraseByIndex(), get(), insert(), readFromStream(), size(), and writeToStream().

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

RTTI stuff

Member Typedef Documentation

◆ const_iterator

◆ ConstPtr

◆ iterator

◆ Ptr

Constructor & Destructor Documentation

◆ CActionCollection() [1/2]

◆ CActionCollection() [2/2]

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() [1/2]

◆ get() [2/2]

◆ getActionByClass()

◆ getBestMovementEstimation()

◆ getFirstMovementEstimation()

◆ getFirstMovementEstimationMean()

◆ getMovementEstimationByType()

◆ GetRuntimeClass()

◆ insert()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ readFromStream()

◆ size()

◆ writeToMatlab()

◆ writeToStream()

Member Data Documentation

◆ _init_CActionCollection

◆ classCActionCollection

◆ classCObject

◆ classCSerializable

◆ classinfo

◆ m_actions