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obs/CObservationOdometry.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 
10 #ifndef CObservationOdometry_H
11 #define CObservationOdometry_H
12 
14 #include <mrpt/obs/CObservation.h>
15 #include <mrpt/poses/CPose2D.h>
16 #include <mrpt/poses/CPose3D.h>
18 
19 namespace mrpt
20 {
21  namespace obs
22  {
23  DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationOdometry, CObservation,OBS_IMPEXP )
24 
25  /** An observation of the current (cumulative) odometry for a wheeled robot.
26  * This kind of observation will only occur in a "observation-only" rawlog file, otherwise
27  * odometry are modeled with actions. Refer to the <a href="http://www.mrpt.org/Rawlog_Format">page on rawlogs</a>.
28  *
29  * \sa CObservation, CActionRobotMovement2D
30  * \ingroup mrpt_obs_grp
31  */
33  {
34  // This must be added to any CSerializable derived class:
36 
37  public:
38  CObservationOdometry(); //!< Default ctor
39 
40  mrpt::poses::CPose2D odometry; //!< The absolute odometry measurement (IT IS NOT INCREMENTAL)
41 
42  bool hasEncodersInfo; //!< "true" means that "encoderLeftTicks" and "encoderRightTicks" contain valid values.
43  /** For differential-driven robots: The ticks count for each wheel in ABSOLUTE VALUE (IT IS NOT INCREMENTAL) (positive means FORWARD, for both wheels); \sa hasEncodersInfo */
44  int32_t encoderLeftTicks,encoderRightTicks;
45 
46  bool hasVelocities; //!< "true" means that `velocityLocal` contains valid values.
47  mrpt::math::TTwist2D velocityLocal; //!< Velocity, in the robot (local) frame of reference (+X=forward).
48 
49  // See base class docs
50  void getSensorPose( mrpt::poses::CPose3D &out_sensorPose ) const MRPT_OVERRIDE { out_sensorPose=mrpt::poses::CPose3D(0,0,0); }
52  void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE;
53 
54  }; // End of class def.
55  DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CObservationOdometry, CObservation,OBS_IMPEXP )
56 
57  } // End of namespace
58 } // End of namespace
59 
60 #endif
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
void setSensorPose(const mrpt::poses::CPose3D &) MRPT_OVERRIDE
A general method to change the sensor pose on the robot.
__int32 int32_t
Definition: rptypes.h:48
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:72
Declares a class that represents any robot's observation.
An observation of the current (cumulative) odometry for a wheeled robot.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)



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