Detailed Description

Represents a probabilistic 2D movement of the robot mobile base.

See the tutorial on probabilistic motion models.

Note: [New in MRPT 1.5.0] Velocity is now encoded as mrpt::math::TTwist2D as a more general version of the old (linVel, angVel).

See also: CAction

Definition at line 32 of file obs/CActionRobotMovement2D.h.

#include <mrpt/obs/CActionRobotMovement2D.h>

Inheritance diagram for mrpt::obs::CActionRobotMovement2D:

Classes
struct	TMotionModelOptions
	The parameter to be passed to "computeFromOdometry". More...

Public Types
enum	TEstimationMethod { emOdometry = 0, emScan2DMatching }
	A list of posible ways for estimating the content of a CActionRobotMovement2D object. More...

enum	TDrawSampleMotionModel { mmGaussian = 0, mmThrun }

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 ()

	CActionRobotMovement2D ()
	Constructor. More...

double	velocityLin () const

double	velocityAng () const

void	computeFromOdometry (const mrpt::poses::CPose2D &odometryIncrement, const TMotionModelOptions &options)
	Computes the PDF of the pose increment from an odometry reading and according to the given motion model (speed and encoder ticks information is not modified). More...

void	computeFromEncoders (double K_left, double K_right, double D)
	If "hasEncodersInfo"=true, this method updates the pose estimation according to the ticks from both encoders and the passed parameters, which is passed internally to the method "computeFromOdometry" with the last used PDF options (or the defualt ones if not explicitly called by the user). More...

void	drawSingleSample (mrpt::poses::CPose2D &outSample) const
	Using this method instead of "poseChange->drawSingleSample()" may be more efficient in most situations. More...

void	prepareFastDrawSingleSamples () const
	Call this before calling a high number of times "fastDrawSingleSample", which is much faster than "drawSingleSample". More...

void	fastDrawSingleSample (mrpt::poses::CPose2D &outSample) const
	Faster version than "drawSingleSample", but requires a previous call to "prepareFastDrawSingleSamples". 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)

Public Attributes
mrpt::utils::poly_ptr_ptr< mrpt::poses::CPosePDFPtr >	poseChange
	The 2D pose change probabilistic estimation. More...

mrpt::poses::CPose2D	rawOdometryIncrementReading
	This is the raw odometry reading, and only is used when "estimationMethod" is "TEstimationMethod::emOdometry". More...

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

bool	hasEncodersInfo
	If "true" means that "encoderLeftTicks" and "encoderRightTicks" contain valid values. More...

int32_t	encoderLeftTicks
	For odometry only: the ticks count for each wheel FROM the last reading (positive means FORWARD, for both wheels);. More...

int32_t	encoderRightTicks

bool	hasVelocities
	If "true" means that "velocityLin" and "velocityAng" contain valid values. More...

mrpt::math::TTwist2D	velocityLocal
	If "hasVelocities"=true, the robot velocity in local (robot frame, +X forward) coordinates. More...

struct OBS_IMPEXP mrpt::obs::CActionRobotMovement2D::TMotionModelOptions	motionModelConfiguration

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
void	computeFromOdometry_modelGaussian (const mrpt::poses::CPose2D &odometryIncrement, const TMotionModelOptions &o)
	Computes the PDF of the pose increment from an odometry reading, using a Gaussian approximation as the motion model. More...

void	computeFromOdometry_modelThrun (const mrpt::poses::CPose2D &odometryIncrement, const TMotionModelOptions &o)
	Computes the PDF of the pose increment from an odometry reading, using the motion model from Thrun's book. More...

void	drawSingleSample_modelGaussian (mrpt::poses::CPose2D &outSample) const
	The sample generator for the model "computeFromOdometry_modelGaussian", internally called when the user invokes "drawSingleSample". More...

void	drawSingleSample_modelThrun (mrpt::poses::CPose2D &outSample) const
	The sample generator for the model "computeFromOdometry_modelThrun", internally called when the user invokes "drawSingleSample". More...

void	prepareFastDrawSingleSample_modelGaussian () const
	Internal use. More...

void	prepareFastDrawSingleSample_modelThrun () const
	Internal use. More...

void	fastDrawSingleSample_modelGaussian (mrpt::poses::CPose2D &outSample) const
	Internal use. More...

void	fastDrawSingleSample_modelThrun (mrpt::poses::CPose2D &outSample) const
	Internal use. More...

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
mrpt::math::CMatrixDouble33	m_fastDrawGauss_Z
	Auxiliary matrix. More...

mrpt::poses::CPose2D	m_fastDrawGauss_M

RTTI stuff
typedef CActionRobotMovement2DPtr	Ptr

typedef CActionRobotMovement2DPtr	ConstPtr

static mrpt::utils::CLASSINIT	_init_CActionRobotMovement2D

static mrpt::utils::TRuntimeClassId	classCActionRobotMovement2D

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 CActionRobotMovement2DPtr	Create ()

Member Typedef Documentation

◆ ConstPtr

typedef CActionRobotMovement2DPtr mrpt::obs::CActionRobotMovement2D::ConstPtr

Definition at line 35 of file obs/CActionRobotMovement2D.h.

◆ Ptr

typedef CActionRobotMovement2DPtr mrpt::obs::CActionRobotMovement2D::Ptr

A typedef for the associated smart pointer

Definition at line 35 of file obs/CActionRobotMovement2D.h.

Member Enumeration Documentation

◆ TDrawSampleMotionModel

enum mrpt::obs::CActionRobotMovement2D::TDrawSampleMotionModel

Enumerator
mmGaussian
mmThrun

Definition at line 65 of file obs/CActionRobotMovement2D.h.

◆ TEstimationMethod

enum mrpt::obs::CActionRobotMovement2D::TEstimationMethod

A list of posible ways for estimating the content of a CActionRobotMovement2D object.

Enumerator
emOdometry
emScan2DMatching

Definition at line 40 of file obs/CActionRobotMovement2D.h.

Constructor & Destructor Documentation

◆ CActionRobotMovement2D()

CActionRobotMovement2D::CActionRobotMovement2D ( )

Constructor.

Definition at line 32 of file CActionRobotMovement2D.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::obs::CActionRobotMovement2D::_GetBaseClass ( )

staticprotected

◆ clone()

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

◆ computeFromEncoders()

void CActionRobotMovement2D::computeFromEncoders	(	double	K_left,
		double	K_right,
		double	D
	)

If "hasEncodersInfo"=true, this method updates the pose estimation according to the ticks from both encoders and the passed parameters, which is passed internally to the method "computeFromOdometry" with the last used PDF options (or the defualt ones if not explicitly called by the user).

Parameters

K_left	The meters / tick ratio for the left encoder.
K_right	The meters / tick ratio for the right encoder.
D	The distance between both wheels, in meters.

Definition at line 347 of file CActionRobotMovement2D.cpp.

References R.

◆ computeFromOdometry()

void CActionRobotMovement2D::computeFromOdometry	(	const mrpt::poses::CPose2D &	odometryIncrement,
		const TMotionModelOptions &	options
	)

Computes the PDF of the pose increment from an odometry reading and according to the given motion model (speed and encoder ticks information is not modified).

According to the parameters in the passed struct, it will be called one the private sampling functions (see "see also" next).

See also: computeFromOdometry_modelGaussian, computeFromOdometry_modelThrun

Definition at line 378 of file CActionRobotMovement2D.cpp.

References mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::modelSelection.

Referenced by mrpt::slam::PF_implementation< mrpt::poses::CPose3D, CMonteCarloLocalization3D >::PF_SLAM_implementation_gatherActionsCheckBothActObs(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

◆ computeFromOdometry_modelGaussian()

void CActionRobotMovement2D::computeFromOdometry_modelGaussian	(	const mrpt::poses::CPose2D &	odometryIncrement,
		const TMotionModelOptions &	o
	)

protected

Computes the PDF of the pose increment from an odometry reading, using a Gaussian approximation as the motion model.

See also: computeFromOdometry

Definition at line 421 of file CActionRobotMovement2D.cpp.

References mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::a1, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::a2, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::a3, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::a4, mrpt::poses::CPosePDFGaussian::cov, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::gaussianModel, mrpt::poses::CPosePDFGaussian::mean, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::minStdPHI, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::minStdXY, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::norm(), mrpt::poses::CPose2D::phi(), mrpt::utils::poly_ptr_ptr< T >::pointer(), poseChange, and mrpt::math::square().

◆ computeFromOdometry_modelThrun()

void CActionRobotMovement2D::computeFromOdometry_modelThrun	(	const mrpt::poses::CPose2D &	odometryIncrement,
		const TMotionModelOptions &	o
	)

protected

Computes the PDF of the pose increment from an odometry reading, using the motion model from Thrun's book.

This model is discussed in "Probabilistic Robotics", Thrun, Burgard, and Fox, 2006, pp.136.

See also: computeFromOdometry

Definition at line 469 of file CActionRobotMovement2D.cpp.

◆ Create()

static CActionRobotMovement2DPtr mrpt::obs::CActionRobotMovement2D::Create ( )

static

◆ CreateObject()

static mrpt::utils::CObject* mrpt::obs::CActionRobotMovement2D::CreateObject ( )

static

◆ drawSingleSample()

void CActionRobotMovement2D::drawSingleSample ( mrpt::poses::CPose2D & outSample ) const

Using this method instead of "poseChange->drawSingleSample()" may be more efficient in most situations.

See also: CPosePDF::drawSingleSample

Definition at line 514 of file CActionRobotMovement2D.cpp.

References drawSingleSample_modelGaussian(), drawSingleSample_modelThrun(), emOdometry, estimationMethod, mmGaussian, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::modelSelection, motionModelConfiguration, and poseChange.

◆ drawSingleSample_modelGaussian()

void CActionRobotMovement2D::drawSingleSample_modelGaussian ( mrpt::poses::CPose2D & outSample ) const

protected

The sample generator for the model "computeFromOdometry_modelGaussian", internally called when the user invokes "drawSingleSample".

Definition at line 535 of file CActionRobotMovement2D.cpp.

References poseChange.

Referenced by drawSingleSample().

◆ drawSingleSample_modelThrun()

void CActionRobotMovement2D::drawSingleSample_modelThrun ( mrpt::poses::CPose2D & outSample ) const

protected

The sample generator for the model "computeFromOdometry_modelThrun", internally called when the user invokes "drawSingleSample".

Definition at line 546 of file CActionRobotMovement2D.cpp.

References mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::additional_std_phi, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::additional_std_XY, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa1_rot_rot, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa2_rot_trans, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa3_trans_trans, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa4_trans_rot, mrpt::random::CRandomGenerator::drawGaussian1D_normalized(), motionModelConfiguration, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::norm(), mrpt::poses::CPose2D::normalizePhi(), mrpt::poses::CPose2D::phi(), mrpt::random::randomGenerator, rawOdometryIncrementReading, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::thrunModel, mrpt::math::wrapToPi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by drawSingleSample(), and fastDrawSingleSample_modelThrun().

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::obs::CActionRobotMovement2D::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().

◆ fastDrawSingleSample()

void CActionRobotMovement2D::fastDrawSingleSample ( mrpt::poses::CPose2D & outSample ) const

Faster version than "drawSingleSample", but requires a previous call to "prepareFastDrawSingleSamples".

Definition at line 589 of file CActionRobotMovement2D.cpp.

References emOdometry, estimationMethod, fastDrawSingleSample_modelGaussian(), fastDrawSingleSample_modelThrun(), mmGaussian, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::modelSelection, motionModelConfiguration, and poseChange.

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

◆ fastDrawSingleSample_modelGaussian()

void CActionRobotMovement2D::fastDrawSingleSample_modelGaussian ( mrpt::poses::CPose2D & outSample ) const

protected

Internal use.

Definition at line 646 of file CActionRobotMovement2D.cpp.

References mrpt::random::CRandomGenerator::drawGaussian1D_normalized(), m_fastDrawGauss_M, m_fastDrawGauss_Z, mrpt::poses::CPose2D::phi(), mrpt::random::randomGenerator, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by fastDrawSingleSample().

◆ fastDrawSingleSample_modelThrun()

void CActionRobotMovement2D::fastDrawSingleSample_modelThrun ( mrpt::poses::CPose2D & outSample ) const

protected

Internal use.

Definition at line 665 of file CActionRobotMovement2D.cpp.

References drawSingleSample_modelThrun().

Referenced by fastDrawSingleSample().

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::obs::CActionRobotMovement2D::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::obs::CAction.

◆ operator delete() [1/3]

void mrpt::obs::CActionRobotMovement2D::operator delete	(	void *	ptr	)
throw	(
	)

inline

Definition at line 35 of file obs/CActionRobotMovement2D.h.

◆ operator delete() [2/3]

void mrpt::obs::CActionRobotMovement2D::operator delete	(	void *	memory,
		void *	ptr
	)
throw	(
	)

inline

Definition at line 35 of file obs/CActionRobotMovement2D.h.

◆ operator delete() [3/3]

void mrpt::obs::CActionRobotMovement2D::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 35 of file obs/CActionRobotMovement2D.h.

◆ operator delete[]()

void mrpt::obs::CActionRobotMovement2D::operator delete[]	(	void *	ptr	)
throw	(
	)

inline

Definition at line 35 of file obs/CActionRobotMovement2D.h.

◆ operator new() [1/3]

static void* mrpt::obs::CActionRobotMovement2D::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 35 of file obs/CActionRobotMovement2D.h.

◆ operator new() [2/3]

void* mrpt::obs::CActionRobotMovement2D::operator new	(	size_t	size,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 35 of file obs/CActionRobotMovement2D.h.

◆ operator new() [3/3]

void* mrpt::obs::CActionRobotMovement2D::operator new ( size_t size )

inline

Definition at line 35 of file obs/CActionRobotMovement2D.h.

◆ operator new[]()

void* mrpt::obs::CActionRobotMovement2D::operator new[] ( size_t size )

inline

Definition at line 35 of file obs/CActionRobotMovement2D.h.

◆ prepareFastDrawSingleSample_modelGaussian()

void CActionRobotMovement2D::prepareFastDrawSingleSample_modelGaussian ( ) const

protected

Internal use.

Computes the eigenvalues/eigenvector decomposition of this matrix, so that: M = Z · D · Z^T, where columns in Z are the eigenvectors and the diagonal matrix D contains the eigenvalues as diagonal elements, sorted in ascending order.

Definition at line 609 of file CActionRobotMovement2D.cpp.

References ASSERT_, mrpt::poses::CPosePDFGaussian::cov, mrpt::math::cov(), IS_CLASS, m_fastDrawGauss_M, m_fastDrawGauss_Z, mrpt::poses::CPosePDFGaussian::mean, MRPT_END, MRPT_START, mrpt::utils::poly_ptr_ptr< T >::pointer(), and poseChange.

Referenced by prepareFastDrawSingleSamples().

◆ prepareFastDrawSingleSample_modelThrun()

void CActionRobotMovement2D::prepareFastDrawSingleSample_modelThrun ( ) const

protected

Internal use.

Definition at line 639 of file CActionRobotMovement2D.cpp.

Referenced by prepareFastDrawSingleSamples().

◆ prepareFastDrawSingleSamples()

void CActionRobotMovement2D::prepareFastDrawSingleSamples ( ) const

Call this before calling a high number of times "fastDrawSingleSample", which is much faster than "drawSingleSample".

Definition at line 574 of file CActionRobotMovement2D.cpp.

References emOdometry, estimationMethod, mmGaussian, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::modelSelection, motionModelConfiguration, prepareFastDrawSingleSample_modelGaussian(), and prepareFastDrawSingleSample_modelThrun().

Referenced by mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

◆ readFromStream()

void CActionRobotMovement2D::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 108 of file CActionRobotMovement2D.cpp.

References INVALID_TIMESTAMP, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

◆ velocityAng()

double mrpt::obs::CActionRobotMovement2D::velocityAng ( ) const

inline

Definition at line 63 of file obs/CActionRobotMovement2D.h.

References mrpt::math::TTwist2D::omega.

◆ velocityLin()

double mrpt::obs::CActionRobotMovement2D::velocityLin ( ) const

inline

Definition at line 62 of file obs/CActionRobotMovement2D.h.

References mrpt::math::TTwist2D::vx.

◆ 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 CActionRobotMovement2D::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 50 of file CActionRobotMovement2D.cpp.

References version.

Member Data Documentation

◆ _init_CActionRobotMovement2D

mrpt::utils::CLASSINIT mrpt::obs::CActionRobotMovement2D::_init_CActionRobotMovement2D

staticprotected

Definition at line 35 of file obs/CActionRobotMovement2D.h.

◆ classCAction

const mrpt::utils::TRuntimeClassId mrpt::obs::CAction::classCAction

staticinherited

Definition at line 36 of file obs/CAction.h.

◆ classCActionRobotMovement2D

mrpt::utils::TRuntimeClassId mrpt::obs::CActionRobotMovement2D::classCActionRobotMovement2D

static

Definition at line 35 of file obs/CActionRobotMovement2D.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::CActionRobotMovement2D::classinfo

static

Definition at line 35 of file obs/CActionRobotMovement2D.h.

◆ encoderLeftTicks

int32_t mrpt::obs::CActionRobotMovement2D::encoderLeftTicks

For odometry only: the ticks count for each wheel FROM the last reading (positive means FORWARD, for both wheels);.

See also: hasEncodersInfo

Definition at line 57 of file obs/CActionRobotMovement2D.h.

◆ encoderRightTicks

int32_t mrpt::obs::CActionRobotMovement2D::encoderRightTicks

Definition at line 57 of file obs/CActionRobotMovement2D.h.

◆ estimationMethod

TEstimationMethod mrpt::obs::CActionRobotMovement2D::estimationMethod

This fields indicates the way in which this estimation was obtained.

Definition at line 51 of file obs/CActionRobotMovement2D.h.

Referenced by drawSingleSample(), fastDrawSingleSample(), and prepareFastDrawSingleSamples().

◆ hasEncodersInfo

bool mrpt::obs::CActionRobotMovement2D::hasEncodersInfo

If "true" means that "encoderLeftTicks" and "encoderRightTicks" contain valid values.

Definition at line 53 of file obs/CActionRobotMovement2D.h.

◆ hasVelocities

bool mrpt::obs::CActionRobotMovement2D::hasVelocities

If "true" means that "velocityLin" and "velocityAng" contain valid values.

Definition at line 59 of file obs/CActionRobotMovement2D.h.

◆ m_fastDrawGauss_M

mrpt::poses::CPose2D mrpt::obs::CActionRobotMovement2D::m_fastDrawGauss_M

mutableprotected

Definition at line 180 of file obs/CActionRobotMovement2D.h.

Referenced by fastDrawSingleSample_modelGaussian(), and prepareFastDrawSingleSample_modelGaussian().

◆ m_fastDrawGauss_Z

mrpt::math::CMatrixDouble33 mrpt::obs::CActionRobotMovement2D::m_fastDrawGauss_Z

mutableprotected

Auxiliary matrix.

Definition at line 179 of file obs/CActionRobotMovement2D.h.

Referenced by fastDrawSingleSample_modelGaussian(), and prepareFastDrawSingleSample_modelGaussian().

◆ motionModelConfiguration

struct OBS_IMPEXP mrpt::obs::CActionRobotMovement2D::TMotionModelOptions mrpt::obs::CActionRobotMovement2D::motionModelConfiguration

Referenced by computeFromOdometry_modelThrun(), drawSingleSample(), drawSingleSample_modelThrun(), fastDrawSingleSample(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), and prepareFastDrawSingleSamples().

◆ poseChange

mrpt::utils::poly_ptr_ptr<mrpt::poses::CPosePDFPtr> mrpt::obs::CActionRobotMovement2D::poseChange

The 2D pose change probabilistic estimation.

Definition at line 48 of file obs/CActionRobotMovement2D.h.

Referenced by computeFromOdometry_modelGaussian(), computeFromOdometry_modelThrun(), drawSingleSample(), drawSingleSample_modelGaussian(), fastDrawSingleSample(), mrpt::slam::PF_implementation< mrpt::poses::CPose3D, CMonteCarloLocalization3D >::PF_SLAM_implementation_gatherActionsCheckBothActObs(), and prepareFastDrawSingleSample_modelGaussian().

◆ rawOdometryIncrementReading

mrpt::poses::CPose2D mrpt::obs::CActionRobotMovement2D::rawOdometryIncrementReading

This is the raw odometry reading, and only is used when "estimationMethod" is "TEstimationMethod::emOdometry".

Definition at line 50 of file obs/CActionRobotMovement2D.h.

Referenced by drawSingleSample_modelThrun(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal().

◆ timestamp

mrpt::system::TTimeStamp mrpt::obs::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 obs/CAction.h.

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

◆ velocityLocal

mrpt::math::TTwist2D mrpt::obs::CActionRobotMovement2D::velocityLocal

If "hasVelocities"=true, the robot velocity in local (robot frame, +X forward) coordinates.

Definition at line 60 of file obs/CActionRobotMovement2D.h.

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Member Enumeration Documentation

◆ TDrawSampleMotionModel

◆ TEstimationMethod

Constructor & Destructor Documentation

◆ CActionRobotMovement2D()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ computeFromEncoders()

◆ computeFromOdometry()

◆ computeFromOdometry_modelGaussian()

◆ computeFromOdometry_modelThrun()

◆ Create()

◆ CreateObject()

◆ drawSingleSample()

◆ drawSingleSample_modelGaussian()

◆ drawSingleSample_modelThrun()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ fastDrawSingleSample()

◆ fastDrawSingleSample_modelGaussian()

◆ fastDrawSingleSample_modelThrun()

◆ GetRuntimeClass()

◆ 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[]()

◆ prepareFastDrawSingleSample_modelGaussian()

◆ prepareFastDrawSingleSample_modelThrun()

◆ prepareFastDrawSingleSamples()

◆ readFromStream()

◆ velocityAng()

◆ velocityLin()

◆ writeToMatlab()

◆ writeToStream()

Member Data Documentation

◆ _init_CActionRobotMovement2D

◆ classCAction

◆ classCActionRobotMovement2D

◆ classCObject

◆ classCSerializable

◆ classinfo

◆ encoderLeftTicks

◆ encoderRightTicks

◆ estimationMethod

◆ hasEncodersInfo

◆ hasVelocities

◆ m_fastDrawGauss_M

◆ m_fastDrawGauss_Z

◆ motionModelConfiguration

◆ poseChange

◆ rawOdometryIncrementReading

◆ timestamp

◆ velocityLocal