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 26 of file CActionCollection.h.

#include <mrpt/obs/CActionCollection.h>

Inheritance diagram for mrpt::obs::CActionCollection:

Public Types
using	iterator = std::deque< mrpt::containers::deepcopy_poly_ptr< CAction::Ptr > >::iterator
	You can use CActionCollection::begin to get a iterator to the first element. More...

using	const_iterator = std::deque< mrpt::containers::deepcopy_poly_ptr< CAction::Ptr > >::const_iterator
	You can use CActionCollection::begin to get a iterator to the first element. More...

Public Member Functions
	CActionCollection ()=default
	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...

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

template<typename T >
T::Ptr	getActionByClass (size_t ith=0) const
	Access to the i'th action of a given class, or a nullptr 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...

CActionRobotMovement2D::Ptr	getBestMovementEstimation () const
	Returns the best pose increment estimator in the collection, based on the determinant of its pose change covariance matrix. More...

CActionRobotMovement2D::Ptr	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 (size_t index)
	Remove an action from the list by its index. 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...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Protected Member Functions
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

Protected Attributes
std::deque< mrpt::containers::deepcopy_poly_ptr< CAction::Ptr > >	m_actions
	The robot "actionss". More...

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::obs ::CActionCollection >

using	ConstPtr = std::shared_ptr< const mrpt::obs ::CActionCollection >

using	UniquePtr = std::unique_ptr< mrpt::obs ::CActionCollection >

using	ConstUniquePtr = std::unique_ptr< const mrpt::obs ::CActionCollection >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::obs" "::" "CActionCollection"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ const_iterator

using mrpt::obs::CActionCollection::const_iterator = std::deque< mrpt::containers::deepcopy_poly_ptr<CAction::Ptr> >::const_iterator

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

Definition at line 50 of file CActionCollection.h.

◆ ConstPtr

using mrpt::obs::CActionCollection::ConstPtr = std::shared_ptr<const mrpt::obs :: CActionCollection >

Definition at line 28 of file CActionCollection.h.

◆ ConstUniquePtr

using mrpt::obs::CActionCollection::ConstUniquePtr = std::unique_ptr<const mrpt::obs :: CActionCollection >

Definition at line 28 of file CActionCollection.h.

◆ iterator

using mrpt::obs::CActionCollection::iterator = std::deque<mrpt::containers::deepcopy_poly_ptr<CAction::Ptr> >::iterator

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

Definition at line 44 of file CActionCollection.h.

◆ Ptr

using mrpt::obs::CActionCollection::Ptr = std::shared_ptr< mrpt::obs :: CActionCollection >

A type for the associated smart pointer

Definition at line 28 of file CActionCollection.h.

◆ UniquePtr

using mrpt::obs::CActionCollection::UniquePtr = std::unique_ptr< mrpt::obs :: CActionCollection >

Definition at line 28 of file CActionCollection.h.

Constructor & Destructor Documentation

◆ CActionCollection() [1/2]

mrpt::obs::CActionCollection::CActionCollection ( )

default

ctor

◆ CActionCollection() [2/2]

CActionCollection::CActionCollection ( CAction & a )

Constructor from a single action.

Definition at line 25 of file CActionCollection.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::obs::CActionCollection::_GetBaseClass ( )

staticprotected

◆ begin() [1/2]

const_iterator mrpt::obs::CActionCollection::begin ( ) const

inline

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

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

Definition at line 63 of file CActionCollection.h.

References m_actions.

◆ begin() [2/2]

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

inline

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

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

Definition at line 75 of file CActionCollection.h.

References m_actions.

◆ clear()

void CActionCollection::clear ( )

Erase all actions from the list.

Definition at line 60 of file CActionCollection.cpp.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::obs::CActionCollection::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::obs::CActionCollection::Create ( Args &&... args )

inlinestatic

Definition at line 28 of file CActionCollection.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::obs::CActionCollection::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 28 of file CActionCollection.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::obs::CActionCollection::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::obs::CActionCollection::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 28 of file CActionCollection.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ end() [1/2]

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

inline

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

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

Definition at line 88 of file CActionCollection.h.

References m_actions.

◆ end() [2/2]

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

inline

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

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

Definition at line 101 of file CActionCollection.h.

References m_actions.

◆ erase()

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 170 of file CActionCollection.cpp.

References ASSERT_, mrpt::containers::end(), MRPT_END, and MRPT_START.

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◆ eraseByIndex()

void CActionCollection::eraseByIndex ( size_t index )

Remove an action from the list by its index.

Exceptions

std::exception On index out of bounds.

Definition at line 131 of file CActionCollection.cpp.

References THROW_EXCEPTION.

◆ get() [1/2]

CAction::Ptr 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::exception On index out of bounds.

Definition at line 64 of file CActionCollection.cpp.

References THROW_EXCEPTION.

◆ get() [2/2]

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

Definition at line 71 of file CActionCollection.cpp.

References THROW_EXCEPTION.

◆ getActionByClass()

template<typename T >

T::Ptr mrpt::obs::CActionCollection::getActionByClass ( size_t ith = 0 ) const

inline

Access to the i'th action of a given class, or a nullptr smart pointer if there is no action of that class in the list.

Example:

CActionRobotMovement2D::Ptr obs =

acts->getActionByClass<CActionRobotMovement2D>();

By default (ith=0), the first one is returned.

Definition at line 129 of file CActionCollection.h.

References MRPT_END, and MRPT_START.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_gatherActionsCheckBothActObs(), mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfStandardProposal(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

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◆ getBestMovementEstimation()

CActionRobotMovement2D::Ptr CActionCollection::getBestMovementEstimation ( ) const

Returns the best pose increment estimator in the collection, based on the determinant of its pose change covariance matrix.

Returns: The estimation, or nullptr if none is available.

Definition at line 94 of file CActionCollection.cpp.

References CLASS_ID, and mrpt::obs::CActionRobotMovement2D::emScan2DMatching.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_gatherActionsCheckBothActObs(), mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfStandardProposal(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal(), and mrpt::slam::CMetricMapBuilderICP::processActionObservation().

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◆ getClassName()

static constexpr auto mrpt::obs::CActionCollection::getClassName ( )

inlinestatic

Definition at line 28 of file CActionCollection.h.

◆ getFirstMovementEstimation()

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 205 of file CActionCollection.cpp.

References mrpt::poses::CPose3DPDFGaussian::copyFrom().

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◆ getFirstMovementEstimationMean()

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 182 of file CActionCollection.cpp.

◆ getMovementEstimationByType()

CActionRobotMovement2D::Ptr CActionCollection::getMovementEstimationByType ( CActionRobotMovement2D::TEstimationMethod method )

Returns the pose increment estimator in the collection having the specified type.

Returns: The estimation, or nullptr if none is available.

Definition at line 142 of file CActionCollection.cpp.

References CLASS_ID.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::obs::CActionCollection::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::obs::CActionCollection::GetRuntimeClassIdStatic ( )

static

◆ insert()

void CActionCollection::insert ( CAction & action )

Add a new object to the list.

Definition at line 85 of file CActionCollection.cpp.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::apps::RawlogGrabberApp::process_observations_for_sf(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

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◆ serializeFrom() [1/2]

void CActionCollection::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

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 I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 37 of file CActionCollection.cpp.

References mrpt::containers::begin(), mrpt::containers::clear(), mrpt::containers::end(), MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and mrpt::serialization::CArchive::ReadAs().

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◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CActionCollection::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 30 of file CActionCollection.cpp.

◆ serializeTo() [1/2]

void CActionCollection::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 31 of file CActionCollection.cpp.

References out.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ size()

size_t CActionCollection::size ( )

Returns the actions count in the collection.

Definition at line 81 of file CActionCollection.cpp.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

◆ className

constexpr const char* mrpt::obs::CActionCollection::className = "mrpt::obs" "::" "CActionCollection"

static

Definition at line 28 of file CActionCollection.h.

◆ m_actions

std::deque<mrpt::containers::deepcopy_poly_ptr<CAction::Ptr> > mrpt::obs::CActionCollection::m_actions

protected

The robot "actionss".

Definition at line 32 of file CActionCollection.h.

Referenced by begin(), and end().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::obs::CActionCollection::runtimeClassId

staticprotected

Definition at line 28 of file CActionCollection.h.

Detailed Description

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

RTTI stuff

Member Typedef Documentation

◆ const_iterator

◆ ConstPtr

◆ ConstUniquePtr

◆ iterator

◆ Ptr

◆ UniquePtr

Constructor & Destructor Documentation

◆ CActionCollection() [1/2]

◆ CActionCollection() [2/2]

Member Function Documentation

◆ _GetBaseClass()

◆ begin() [1/2]

◆ begin() [2/2]

◆ clear()

◆ clone()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ end() [1/2]

◆ end() [2/2]

◆ erase()

◆ eraseByIndex()

◆ get() [1/2]

◆ get() [2/2]

◆ getActionByClass()

◆ getBestMovementEstimation()

◆ getClassName()

◆ getFirstMovementEstimation()

◆ getFirstMovementEstimationMean()

◆ getMovementEstimationByType()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ insert()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ size()

◆ writeToMatlab()

Member Data Documentation

◆ className

◆ m_actions

◆ runtimeClassId