Detailed Description

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

See docs: https://www.mrpt.org/tutorials/programming/odometry-and-motion-models/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 30 of file 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
	CActionRobotMovement2D ()

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 void	getDescriptionAsText (std::ostream &o) const override
	Build a detailed, multi-line textual description of the action contents and dump it to the output stream. More...

std::string	getDescriptionAsTextValue () const
	Return by value version of getDescriptionAsText(std::ostream&) 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...

Public Attributes
mrpt::containers::deepcopy_poly_ptr< mrpt::poses::CPosePDF::Ptr >	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 {emOdometry}
	This fields indicates the way in which this estimation was obtained. More...

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

int32_t	encoderLeftTicks {0}
	For odometry only: the ticks count for each wheel FROM the last reading (positive means FORWARD, for both wheels);. More...

int32_t	encoderRightTicks {0}

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

mrpt::math::TTwist2D	velocityLocal {.0, .0, .0}
	If "hasVelocities"=true, the robot velocity in local (robot frame, +X forward) coordinates. More...

TMotionModelOptions	motionModelConfiguration

mrpt::system::TTimeStamp	timestamp {INVALID_TIMESTAMP}
	The associated time-stamp. More...

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

mrpt::poses::CPose2D	m_fastDrawGauss_M

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::obs ::CActionRobotMovement2D >

using	ConstPtr = std::shared_ptr< const mrpt::obs ::CActionRobotMovement2D >

using	UniquePtr = std::unique_ptr< mrpt::obs ::CActionRobotMovement2D >

using	ConstUniquePtr = std::unique_ptr< const mrpt::obs ::CActionRobotMovement2D >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::obs" "::" "CActionRobotMovement2D"

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

◆ ConstPtr

using mrpt::obs::CActionRobotMovement2D::ConstPtr = std::shared_ptr<const mrpt::obs :: CActionRobotMovement2D >

Definition at line 32 of file CActionRobotMovement2D.h.

◆ ConstUniquePtr

using mrpt::obs::CActionRobotMovement2D::ConstUniquePtr = std::unique_ptr<const mrpt::obs :: CActionRobotMovement2D >

Definition at line 32 of file CActionRobotMovement2D.h.

◆ Ptr

using mrpt::obs::CActionRobotMovement2D::Ptr = std::shared_ptr< mrpt::obs :: CActionRobotMovement2D >

A type for the associated smart pointer

Definition at line 32 of file CActionRobotMovement2D.h.

◆ UniquePtr

using mrpt::obs::CActionRobotMovement2D::UniquePtr = std::unique_ptr< mrpt::obs :: CActionRobotMovement2D >

Definition at line 32 of file CActionRobotMovement2D.h.

Member Enumeration Documentation

◆ TDrawSampleMotionModel

enum mrpt::obs::CActionRobotMovement2D::TDrawSampleMotionModel

Enumerator
mmGaussian
mmThrun

Definition at line 72 of file 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 38 of file CActionRobotMovement2D.h.

Constructor & Destructor Documentation

◆ CActionRobotMovement2D()

CActionRobotMovement2D::CActionRobotMovement2D ( )

Definition at line 32 of file CActionRobotMovement2D.cpp.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ clone()

virtual mrpt::rtti::CObject* mrpt::obs::CActionRobotMovement2D::clone ( ) const

overridevirtual

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

Implements mrpt::rtti::CObject.

◆ 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 356 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 387 of file CActionRobotMovement2D.cpp.

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

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_gatherActionsCheckBothActObs(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

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◆ 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 404 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, ASSERT_, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::gaussianModel, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::minStdPHI, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::minStdXY, mrpt::math::multiply_HCHt(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::norm(), mrpt::poses::CPose2D::phi(), and mrpt::square().

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◆ 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 455 of file CActionRobotMovement2D.cpp.

References 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, ASSERT_, mrpt::random::CRandomGenerator::drawGaussian1D_normalized(), mrpt::random::getRandomGenerator(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::norm(), mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::nParticlesCount, mrpt::poses::CPose2D::phi(), mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::thrunModel, mrpt::math::wrapToPi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ Create()

template<typename... Args>

static Ptr mrpt::obs::CActionRobotMovement2D::Create ( Args &&... args )

inlinestatic

Definition at line 32 of file CActionRobotMovement2D.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::obs::CActionRobotMovement2D::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 32 of file CActionRobotMovement2D.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::obs::CActionRobotMovement2D::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::obs::CActionRobotMovement2D::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 32 of file CActionRobotMovement2D.h.

◆ 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 520 of file CActionRobotMovement2D.cpp.

◆ 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 541 of file CActionRobotMovement2D.cpp.

◆ 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 552 of file CActionRobotMovement2D.cpp.

References mrpt::random::CRandomGenerator::drawGaussian1D_normalized(), mrpt::random::getRandomGenerator(), mrpt::poses::CPose2D::normalizePhi(), mrpt::poses::CPose2D::phi(), mrpt::math::wrapToPi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ 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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◆ fastDrawSingleSample()

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

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

Definition at line 624 of file CActionRobotMovement2D.cpp.

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

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◆ fastDrawSingleSample_modelGaussian()

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

protected

Internal use.

Definition at line 681 of file CActionRobotMovement2D.cpp.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::assign(), mrpt::random::CRandomGenerator::drawGaussian1D_normalized(), and mrpt::random::getRandomGenerator().

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◆ fastDrawSingleSample_modelThrun()

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

protected

Internal use.

Definition at line 702 of file CActionRobotMovement2D.cpp.

◆ getClassName()

static constexpr auto mrpt::obs::CActionRobotMovement2D::getClassName ( )

inlinestatic

Definition at line 32 of file CActionRobotMovement2D.h.

◆ getDescriptionAsText()

void CActionRobotMovement2D::getDescriptionAsText ( std::ostream & o ) const

overridevirtual

Build a detailed, multi-line textual description of the action contents and dump it to the output stream.

Note: If overried by derived classes, call base CAction::getDescriptionAsText() first to show common information.

Reimplemented from mrpt::obs::CAction.

Definition at line 708 of file CActionRobotMovement2D.cpp.

References CLASS_ID, mrpt::math::MatrixBase< Scalar, Derived >::det(), mrpt::format(), mrpt::obs::CAction::getDescriptionAsText(), and mrpt::typemeta::TEnumType< ENUMTYPE >::value2name().

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◆ getDescriptionAsTextValue()

std::string CAction::getDescriptionAsTextValue ( ) const

inherited

Return by value version of getDescriptionAsText(std::ostream&)

Definition at line 34 of file CAction.cpp.

References mrpt::obs::CAction::getDescriptionAsText().

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◆ GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::obs::CAction.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::obs::CActionRobotMovement2D::GetRuntimeClassIdStatic ( )

static

◆ 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 645 of file CActionRobotMovement2D.cpp.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::array(), mrpt::math::CMatrixFixed< T, ROWS, COLS >::asEigen(), ASSERT_, mrpt::math::cov(), mrpt::math::MatrixBase< Scalar, Derived >::eig_symmetric(), IS_CLASS, MRPT_END, MRPT_START, and mrpt::math::MatrixBase< Scalar, Derived >::setDiagonal().

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◆ prepareFastDrawSingleSample_modelThrun()

void CActionRobotMovement2D::prepareFastDrawSingleSample_modelThrun ( ) const

protected

Internal use.

Definition at line 677 of file CActionRobotMovement2D.cpp.

◆ prepareFastDrawSingleSamples()

void CActionRobotMovement2D::prepareFastDrawSingleSamples ( ) const

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

Definition at line 608 of file CActionRobotMovement2D.cpp.

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

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◆ serializeFrom() [1/2]

void CActionRobotMovement2D::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 87 of file CActionRobotMovement2D.cpp.

References INVALID_TIMESTAMP, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::serialization::CArchive::ReadAs(), and mrpt::serialization::CArchive::ReadBuffer().

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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 CActionRobotMovement2D::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 39 of file CActionRobotMovement2D.cpp.

◆ serializeTo() [1/2]

void CActionRobotMovement2D::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 40 of file CActionRobotMovement2D.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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◆ velocityAng()

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

inline

Definition at line 71 of file CActionRobotMovement2D.h.

References mrpt::math::TTwist2D::omega, and velocityLocal.

◆ velocityLin()

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

inline

Definition at line 70 of file CActionRobotMovement2D.h.

References velocityLocal, and mrpt::math::TTwist2D::vx.

◆ 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::CActionRobotMovement2D::className = "mrpt::obs" "::" "CActionRobotMovement2D"

static

Definition at line 32 of file CActionRobotMovement2D.h.

◆ encoderLeftTicks

int32_t mrpt::obs::CActionRobotMovement2D::encoderLeftTicks {0}

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 61 of file CActionRobotMovement2D.h.

◆ encoderRightTicks

int32_t mrpt::obs::CActionRobotMovement2D::encoderRightTicks {0}

Definition at line 61 of file CActionRobotMovement2D.h.

◆ estimationMethod

TEstimationMethod mrpt::obs::CActionRobotMovement2D::estimationMethod {emOdometry}

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

Definition at line 52 of file CActionRobotMovement2D.h.

◆ hasEncodersInfo

bool mrpt::obs::CActionRobotMovement2D::hasEncodersInfo {false}

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

Definition at line 56 of file CActionRobotMovement2D.h.

◆ hasVelocities

bool mrpt::obs::CActionRobotMovement2D::hasVelocities {false}

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

Definition at line 65 of file CActionRobotMovement2D.h.

◆ m_fastDrawGauss_M

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

mutableprotected

Definition at line 239 of file CActionRobotMovement2D.h.

◆ m_fastDrawGauss_Z

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

mutableprotected

Auxiliary matrix.

Definition at line 238 of file CActionRobotMovement2D.h.

◆ motionModelConfiguration

TMotionModelOptions mrpt::obs::CActionRobotMovement2D::motionModelConfiguration

Definition at line 147 of file CActionRobotMovement2D.h.

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

◆ poseChange

mrpt::containers::deepcopy_poly_ptr<mrpt::poses::CPosePDF::Ptr> mrpt::obs::CActionRobotMovement2D::poseChange

The 2D pose change probabilistic estimation.

Definition at line 47 of file CActionRobotMovement2D.h.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_gatherActionsCheckBothActObs(), and mrpt::detectors::CDetectorDoorCrossing::process().

◆ 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 CActionRobotMovement2D.h.

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

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::obs::CActionRobotMovement2D::runtimeClassId

staticprotected

Definition at line 32 of file CActionRobotMovement2D.h.

◆ timestamp

mrpt::system::TTimeStamp mrpt::obs::CAction::timestamp {INVALID_TIMESTAMP}

inherited

The associated time-stamp.

Definition at line 33 of file CAction.h.

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

◆ velocityLocal

mrpt::math::TTwist2D mrpt::obs::CActionRobotMovement2D::velocityLocal {.0, .0, .0}

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

Definition at line 68 of file CActionRobotMovement2D.h.

Referenced by velocityAng(), and velocityLin().

Detailed Description

Classes

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Member Enumeration Documentation

◆ TDrawSampleMotionModel

◆ TEstimationMethod

Constructor & Destructor Documentation

◆ CActionRobotMovement2D()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ computeFromEncoders()

◆ computeFromOdometry()

◆ computeFromOdometry_modelGaussian()

◆ computeFromOdometry_modelThrun()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ drawSingleSample()

◆ drawSingleSample_modelGaussian()

◆ drawSingleSample_modelThrun()

◆ duplicateGetSmartPtr()

◆ fastDrawSingleSample()

◆ fastDrawSingleSample_modelGaussian()

◆ fastDrawSingleSample_modelThrun()

◆ getClassName()

◆ getDescriptionAsText()

◆ getDescriptionAsTextValue()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ prepareFastDrawSingleSample_modelGaussian()

◆ prepareFastDrawSingleSample_modelThrun()

◆ prepareFastDrawSingleSamples()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ velocityAng()

◆ velocityLin()

◆ writeToMatlab()

Member Data Documentation

◆ className

◆ encoderLeftTicks

◆ encoderRightTicks

◆ estimationMethod

◆ hasEncodersInfo

◆ hasVelocities

◆ m_fastDrawGauss_M

◆ m_fastDrawGauss_Z

◆ motionModelConfiguration

◆ poseChange

◆ rawOdometryIncrementReading

◆ runtimeClassId

◆ timestamp

◆ velocityLocal