Detailed Description

This class stores a sequence of relative, incremental 3D poses.

It is useful as the bases storing unit for more complex probability particles and for computing the absolute pose of any intermediate pose.

See also: CPose3D, CMultiMetricMap

Definition at line 28 of file CPoses3DSequence.h.

#include <mrpt/poses/CPoses3DSequence.h>

Inheritance diagram for mrpt::poses::CPoses3DSequence:

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 ()

	CPoses3DSequence ()
	Default constructor. More...

size_t	posesCount ()
	Returns the poses count in the sequence: More...

void	getPose (unsigned int ind, CPose3D &outPose)
	Reads the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1". More...

void	changePose (unsigned int ind, CPose3D &inPose)
	Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1". More...

void	appendPose (CPose3D &newPose)
	Appends a new pose at the end of sequence. More...

void	clear ()
	Clears the sequence. More...

CPose3D	absolutePoseOf (unsigned int n)
	Returns the absolute pose of a robot after moving "n" poses, so for "n=0" the origin pose (0,0,0deg) is returned, for "n=1" the first pose is returned, and for "n=posesCount()", the pose of robot after moving ALL poses is returned, all of them relative to the starting pose. More...

CPose3D	absolutePoseAfterAll ()
	A shortcut for "absolutePoseOf( posesCount() )". More...

float	computeTraveledDistanceAfter (unsigned int n)
	Returns the traveled distance after moving "n" poses, so for "n=0" it returns 0, for "n=1" the first traveled distance, and for "n=posesCount()", the total distance after ALL movements. More...

float	computeTraveledDistanceAfterAll ()
	Returns the traveled distance after ALL movements. 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...

Private Attributes
std::vector< mrpt::math::TPose3D >	m_poses
	The internal sequence of poses, stored as relative, incremental poses, thus each one is situated just at the end point of last one, where the first one is referenced to (0,0,0deg) More...

RTTI stuff
typedef CPoses3DSequencePtr	Ptr

typedef CPoses3DSequencePtr	ConstPtr

static mrpt::utils::CLASSINIT	_init_CPoses3DSequence

static mrpt::utils::TRuntimeClassId	classCPoses3DSequence

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 CPoses3DSequencePtr	Create ()

Member Typedef Documentation

◆ ConstPtr

typedef CPoses3DSequencePtr mrpt::poses::CPoses3DSequence::ConstPtr

Definition at line 31 of file CPoses3DSequence.h.

◆ Ptr

typedef CPoses3DSequencePtr mrpt::poses::CPoses3DSequence::Ptr

A typedef for the associated smart pointer

Definition at line 31 of file CPoses3DSequence.h.

Constructor & Destructor Documentation

◆ CPoses3DSequence()

CPoses3DSequence::CPoses3DSequence ( )

Default constructor.

Definition at line 25 of file CPoses3DSequence.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoses3DSequence::_GetBaseClass ( )

staticprotected

◆ absolutePoseAfterAll()

CPose3D CPoses3DSequence::absolutePoseAfterAll ( )

A shortcut for "absolutePoseOf( posesCount() )".

See also: absolutePoseOf, posesCount

Definition at line 137 of file CPoses3DSequence.cpp.

◆ absolutePoseOf()

CPose3D CPoses3DSequence::absolutePoseOf ( unsigned int n )

Returns the absolute pose of a robot after moving "n" poses, so for "n=0" the origin pose (0,0,0deg) is returned, for "n=1" the first pose is returned, and for "n=posesCount()", the pose of robot after moving ALL poses is returned, all of them relative to the starting pose.

Exceptions

std::exception On invalid index value

See also: absolutePoseAfterAll

Definition at line 121 of file CPoses3DSequence.cpp.

References THROW_EXCEPTION.

◆ appendPose()

void CPoses3DSequence::appendPose ( CPose3D & newPose )

Appends a new pose at the end of sequence.

Remember that poses are relative, incremental to the last one.

Definition at line 103 of file CPoses3DSequence.cpp.

◆ changePose()

void CPoses3DSequence::changePose	(	unsigned int	ind,
		CPose3D &	inPose
	)

Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1".

Exceptions

std::exception On invalid index value

Definition at line 94 of file CPoses3DSequence.cpp.

References THROW_EXCEPTION.

◆ clear()

void CPoses3DSequence::clear ( )

Clears the sequence.

Definition at line 111 of file CPoses3DSequence.cpp.

◆ clone()

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

inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

◆ computeTraveledDistanceAfter()

float CPoses3DSequence::computeTraveledDistanceAfter ( unsigned int n )

Returns the traveled distance after moving "n" poses, so for "n=0" it returns 0, for "n=1" the first traveled distance, and for "n=posesCount()", the total distance after ALL movements.

Exceptions

std::exception On invalid index value

See also: computeTraveledDistanceAfterAll

Definition at line 146 of file CPoses3DSequence.cpp.

References mrpt::math::norm(), and THROW_EXCEPTION.

◆ computeTraveledDistanceAfterAll()

float CPoses3DSequence::computeTraveledDistanceAfterAll ( )

Returns the traveled distance after ALL movements.

A shortcut for "computeTraveledDistanceAfter( posesCount() )".

See also: computeTraveledDistanceAfter

Definition at line 161 of file CPoses3DSequence.cpp.

◆ Create()

static CPoses3DSequencePtr mrpt::poses::CPoses3DSequence::Create ( )

static

◆ CreateObject()

static mrpt::utils::CObject* mrpt::poses::CPoses3DSequence::CreateObject ( )

static

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::poses::CPoses3DSequence::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().

◆ getPose()

void CPoses3DSequence::getPose	(	unsigned int	ind,
		CPose3D &	outPose
	)

Reads the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1".

Exceptions

std::exception On invalid index value

Definition at line 84 of file CPoses3DSequence.cpp.

References THROW_EXCEPTION.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoses3DSequence::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ operator delete() [1/3]

void mrpt::poses::CPoses3DSequence::operator delete	(	void *	ptr	)
throw	(
	)

inline

Definition at line 31 of file CPoses3DSequence.h.

◆ operator delete() [2/3]

void mrpt::poses::CPoses3DSequence::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 31 of file CPoses3DSequence.h.

◆ operator delete() [3/3]

void mrpt::poses::CPoses3DSequence::operator delete	(	void *	memory,
		void *	ptr
	)
throw	(
	)

inline

Definition at line 31 of file CPoses3DSequence.h.

◆ operator delete[]()

void mrpt::poses::CPoses3DSequence::operator delete[]	(	void *	ptr	)
throw	(
	)

inline

Definition at line 31 of file CPoses3DSequence.h.

◆ operator new() [1/3]

void* mrpt::poses::CPoses3DSequence::operator new ( size_t size )

inline

Definition at line 31 of file CPoses3DSequence.h.

◆ operator new() [2/3]

void* mrpt::poses::CPoses3DSequence::operator new	(	size_t	size,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 31 of file CPoses3DSequence.h.

◆ operator new() [3/3]

static void* mrpt::poses::CPoses3DSequence::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 31 of file CPoses3DSequence.h.

◆ operator new[]()

void* mrpt::poses::CPoses3DSequence::operator new[] ( size_t size )

inline

Definition at line 31 of file CPoses3DSequence.h.

◆ posesCount()

size_t CPoses3DSequence::posesCount ( )

Returns the poses count in the sequence:

Definition at line 34 of file CPoses3DSequence.cpp.

◆ readFromStream()

void CPoses3DSequence::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 62 of file CPoses3DSequence.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

◆ 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 CPoses3DSequence::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 43 of file CPoses3DSequence.cpp.

References version.

Member Data Documentation

◆ _init_CPoses3DSequence

mrpt::utils::CLASSINIT mrpt::poses::CPoses3DSequence::_init_CPoses3DSequence

staticprotected

Definition at line 31 of file CPoses3DSequence.h.

◆ classCObject

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

staticinherited

Definition at line 128 of file CObject.h.

◆ classCPoses3DSequence

mrpt::utils::TRuntimeClassId mrpt::poses::CPoses3DSequence::classCPoses3DSequence

static

Definition at line 31 of file CPoses3DSequence.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::poses::CPoses3DSequence::classinfo

static

Definition at line 31 of file CPoses3DSequence.h.

◆ m_poses

std::vector<mrpt::math::TPose3D> mrpt::poses::CPoses3DSequence::m_poses

private

The internal sequence of poses, stored as relative, incremental poses, thus each one is situated just at the end point of last one, where the first one is referenced to (0,0,0deg)

Definition at line 88 of file CPoses3DSequence.h.

Detailed Description

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Private Attributes

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CPoses3DSequence()

Member Function Documentation

◆ _GetBaseClass()

◆ absolutePoseAfterAll()

◆ absolutePoseOf()

◆ appendPose()

◆ changePose()

◆ clear()

◆ clone()

◆ computeTraveledDistanceAfter()

◆ computeTraveledDistanceAfterAll()

◆ Create()

◆ CreateObject()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ getPose()

◆ 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[]()

◆ posesCount()

◆ readFromStream()

◆ writeToMatlab()

◆ writeToStream()

Member Data Documentation

◆ _init_CPoses3DSequence

◆ classCObject

◆ classCPoses3DSequence

◆ classCSerializable

◆ classinfo

◆ m_poses