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mrpt::obs::CActionCollection Class Reference

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:
Inheritance graph

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

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator 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 CActionget (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 mxArraywriteToMatlab () 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...
 
CObjectclone () const
 Cloning interface for smart pointers. More...
 

Static Public Member Functions

static voidoperator 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::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CActionCollectionPtr Create ()
 

Member Typedef Documentation

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

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

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

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

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

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

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::CActionCollection ( )

ctor

Definition at line 32 of file CActionCollection.cpp.

CActionCollection::CActionCollection ( CAction a)

Constructor from a single action.

Definition at line 39 of file CActionCollection.cpp.

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

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::obs::CActionCollection::_GetBaseClass ( )
staticprotected
const_iterator mrpt::obs::CActionCollection::begin ( ) const
inline

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

...
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().

iterator mrpt::obs::CActionCollection::begin ( )
inline

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

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

Definition at line 75 of file obs/CActionCollection.h.

void CActionCollection::clear ( )

Erase all actions from the list.

Definition at line 88 of file CActionCollection.cpp.

References m_actions.

Referenced by readFromStream().

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

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

static CActionCollectionPtr mrpt::obs::CActionCollection::Create ( )
static
static mrpt::utils::CObject* mrpt::obs::CActionCollection::CreateObject ( )
static
virtual mrpt::utils::CObject* mrpt::obs::CActionCollection::duplicate ( ) const
virtual

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

Implements mrpt::utils::CObject.

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().

const_iterator mrpt::obs::CActionCollection::end ( ) const
inline

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

...
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().

iterator mrpt::obs::CActionCollection::end ( )
inline

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

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

Definition at line 101 of file obs/CActionCollection.h.

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.

void CActionCollection::eraseByIndex ( const size_t &  index)

Remove an action from the list by its index.

Exceptions
std::exceptionOn index out of bounds.

Definition at line 168 of file CActionCollection.cpp.

References m_actions, and THROW_EXCEPTION.

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::exceptionOn index out of bounds.

Definition at line 96 of file CActionCollection.cpp.

References m_actions, and THROW_EXCEPTION.

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

Definition at line 104 of file CActionCollection.cpp.

References m_actions, and THROW_EXCEPTION.

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< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_gatherActionsCheckBothActObs(), mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_pfStandardProposal(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

CActionRobotMovement2DPtr CActionCollection::getBestMovementEstimation ( ) const
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().

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.

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().

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.

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().

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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
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.

Definition at line 65 of file CActionCollection.cpp.

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

size_t CActionCollection::size ( )

Returns the actions count in the collection.

Definition at line 116 of file CActionCollection.cpp.

References m_actions.

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.

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
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.

Definition at line 47 of file CActionCollection.cpp.

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

Member Data Documentation

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

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

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

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

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

Definition at line 128 of file CObject.h.

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

Definition at line 42 of file CSerializable.h.

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

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

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().




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