CPoses3DSequence.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/poses/CPose3D.h>
#include <mrpt/serialization/CSerializable.h>

namespace mrpt::poses
{
/** 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.
 *
 * \sa CPose3D, CMultiMetricMap
 * \ingroup poses_grp
 */
class CPoses3DSequence : public mrpt::serialization::CSerializable
{
    DEFINE_SERIALIZABLE(CPoses3DSequence, mrpt::poses)
   public:
    /** Returns the poses count in the sequence:
     */
    size_t posesCount();

    /** Reads the stored pose at index "ind", where the first one is 0, the last
     * "posesCount() - 1"
     * \exception std::exception On invalid index value
     */
    void getPose(unsigned int ind, CPose3D& outPose);

    /** Changes the stored pose at index "ind", where the first one is 0, the
     * last "posesCount() - 1"
     * \exception std::exception On invalid index value
     */
    void changePose(unsigned int ind, CPose3D& inPose);

    /** Appends a new pose at the end of sequence. Remember that poses are
     * relative, incremental to the last one.
     */
    void appendPose(CPose3D& newPose);

    /** Clears the sequence.
     */
    void clear();

    /** 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.
     * \exception std::exception On invalid index value
     * \sa absolutePoseAfterAll
     */
    CPose3D absolutePoseOf(unsigned int n);

    /** A shortcut for "absolutePoseOf( posesCount() )".
     * \sa absolutePoseOf, posesCount
     */
    CPose3D absolutePoseAfterAll();

    /** 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.
     * \exception std::exception On invalid index value
     * \sa computeTraveledDistanceAfterAll
     */
    double computeTraveledDistanceAfter(size_t n);

    /** Returns the traveled distance after ALL movements.
     *   A shortcut for "computeTraveledDistanceAfter( posesCount() )".
     * \sa computeTraveledDistanceAfter
     */
    double computeTraveledDistanceAfterAll();

   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)
     */
    std::vector<mrpt::math::TPose3D> m_poses;

};  // End of class def.
}  // namespace mrpt::poses