Detailed Description

Represents a probabilistic 3D (6D) movement.

Currently this can be determined from visual odometry for full 6D, or from wheel encoders for 2D movements only. Here implemented the motion model from the next article: A. L. Ballardini, A. Furlan, A. Galbiati, M. Matteucci, F. Sacchi, D. G. Sorrenti An effective 6DoF motion model for 3D-6DoF Monte Carlo Localization 4th Workshop on Planning, Perception and Navigation for Intelligent Vehicles, IROS, 2012

See also: CAction

Definition at line 26 of file CActionRobotMovement3D.h.

#include <mrpt/obs/CActionRobotMovement3D.h>

Inheritance diagram for mrpt::obs::CActionRobotMovement3D:

Classes
struct	TMotionModelOptions
	The parameter to be passed to "computeFromOdometry". More...

Public Types
enum	TEstimationMethod { emOdometry = 0, emVisualOdometry }
	A list of posible ways for estimating the content of a CActionRobotMovement3D object. More...

enum	TDrawSampleMotionModel { mmGaussian = 0, mm6DOF }

Public Member Functions
	CActionRobotMovement3D ()=default

void	computeFromOdometry (const mrpt::poses::CPose3D &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	computeFromOdometry_model6DOF (const mrpt::poses::CPose3D &odometryIncrement, const TMotionModelOptions &o)
	Computes the PDF of the pose increment from an odometry reading, using the motion model for 6 DOF. 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::poses::CPose3DPDFGaussian	poseChange {}
	The 3D pose change probabilistic estimation. More...

mrpt::poses::CPose3D	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 this estimation was obtained. More...

struct mrpt::obs::CActionRobotMovement3D::TMotionModelOptions	motionModelConfiguration

std::vector< bool >	hasVelocities {false, false, false, false, false, false}
	Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries. More...

mrpt::math::CVectorFloat	velocities {6}
	The velocity of the robot in each of 6D: v_x,v_y,v_z,v_yaw,v_pitch,v_roll (linear in meters/sec and angular in rad/sec). More...

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

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::obs ::CActionRobotMovement3D >

using	ConstPtr = std::shared_ptr< const mrpt::obs ::CActionRobotMovement3D >

using	UniquePtr = std::unique_ptr< mrpt::obs ::CActionRobotMovement3D >

using	ConstUniquePtr = std::unique_ptr< const mrpt::obs ::CActionRobotMovement3D >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::obs" "::" "CActionRobotMovement3D"

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::CActionRobotMovement3D::ConstPtr = std::shared_ptr<const mrpt::obs :: CActionRobotMovement3D >

Definition at line 28 of file CActionRobotMovement3D.h.

◆ ConstUniquePtr

using mrpt::obs::CActionRobotMovement3D::ConstUniquePtr = std::unique_ptr<const mrpt::obs :: CActionRobotMovement3D >

Definition at line 28 of file CActionRobotMovement3D.h.

◆ Ptr

using mrpt::obs::CActionRobotMovement3D::Ptr = std::shared_ptr< mrpt::obs :: CActionRobotMovement3D >

A type for the associated smart pointer

Definition at line 28 of file CActionRobotMovement3D.h.

◆ UniquePtr

using mrpt::obs::CActionRobotMovement3D::UniquePtr = std::unique_ptr< mrpt::obs :: CActionRobotMovement3D >

Definition at line 28 of file CActionRobotMovement3D.h.

Member Enumeration Documentation

◆ TDrawSampleMotionModel

enum mrpt::obs::CActionRobotMovement3D::TDrawSampleMotionModel

Enumerator
mmGaussian
mm6DOF

Definition at line 55 of file CActionRobotMovement3D.h.

◆ TEstimationMethod

enum mrpt::obs::CActionRobotMovement3D::TEstimationMethod

A list of posible ways for estimating the content of a CActionRobotMovement3D object.

Enumerator
emOdometry
emVisualOdometry

Definition at line 34 of file CActionRobotMovement3D.h.

Constructor & Destructor Documentation

◆ CActionRobotMovement3D()

mrpt::obs::CActionRobotMovement3D::CActionRobotMovement3D ( )

default

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::obs::CActionRobotMovement3D::_GetBaseClass ( )

staticprotected

◆ clone()

virtual mrpt::rtti::CObject* mrpt::obs::CActionRobotMovement3D::clone ( ) const

overridevirtual

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

Implements mrpt::rtti::CObject.

◆ computeFromOdometry()

void CActionRobotMovement3D::computeFromOdometry	(	const mrpt::poses::CPose3D &	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_model6DOF

Definition at line 62 of file CActionRobotMovement3D.cpp.

References mrpt::obs::CActionRobotMovement3D::TMotionModelOptions::modelSelection.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization().

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◆ computeFromOdometry_model6DOF()

void CActionRobotMovement3D::computeFromOdometry_model6DOF	(	const mrpt::poses::CPose3D &	odometryIncrement,
		const TMotionModelOptions &	o
	)

Computes the PDF of the pose increment from an odometry reading, using the motion model for 6 DOF.

The source: A. L. Ballardini, A. Furlan, A. Galbiati, M. Matteucci, F. Sacchi, D. G. Sorrenti An effective 6DoF motion model for 3D-6DoF Monte Carlo Localization 4th Workshop on Planning, Perception and Navigation for Intelligent Vehicles, IROS, 2012

See also: computeFromOdometry

Definition at line 77 of file CActionRobotMovement3D.cpp.

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◆ Create()

template<typename... Args>

static Ptr mrpt::obs::CActionRobotMovement3D::Create ( Args &&... args )

inlinestatic

Definition at line 28 of file CActionRobotMovement3D.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::obs::CActionRobotMovement3D::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 28 of file CActionRobotMovement3D.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::obs::CActionRobotMovement3D::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::obs::CActionRobotMovement3D::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 28 of file CActionRobotMovement3D.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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◆ getClassName()

static constexpr auto mrpt::obs::CActionRobotMovement3D::getClassName ( )

inlinestatic

Definition at line 28 of file CActionRobotMovement3D.h.

◆ getDescriptionAsText()

void CActionRobotMovement3D::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 215 of file CActionRobotMovement3D.cpp.

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

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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::CActionRobotMovement3D::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::CActionRobotMovement3D::GetRuntimeClassIdStatic ( )

static

◆ serializeFrom() [1/2]

void CActionRobotMovement3D::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 34 of file CActionRobotMovement3D.cpp.

References INVALID_TIMESTAMP, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ 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 CActionRobotMovement3D::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 24 of file CActionRobotMovement3D.cpp.

◆ serializeTo() [1/2]

void CActionRobotMovement3D::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 25 of file CActionRobotMovement3D.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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◆ 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::CActionRobotMovement3D::className = "mrpt::obs" "::" "CActionRobotMovement3D"

static

Definition at line 28 of file CActionRobotMovement3D.h.

◆ estimationMethod

TEstimationMethod mrpt::obs::CActionRobotMovement3D::estimationMethod {emOdometry}

This fields indicates the way this estimation was obtained.

Definition at line 53 of file CActionRobotMovement3D.h.

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

◆ hasVelocities

std::vector<bool> mrpt::obs::CActionRobotMovement3D::hasVelocities {false, false, false, false, false, false}

Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries.

Definition at line 121 of file CActionRobotMovement3D.h.

◆ motionModelConfiguration

struct mrpt::obs::CActionRobotMovement3D::TMotionModelOptions mrpt::obs::CActionRobotMovement3D::motionModelConfiguration

◆ poseChange

mrpt::poses::CPose3DPDFGaussian mrpt::obs::CActionRobotMovement3D::poseChange {}

The 3D pose change probabilistic estimation.

It can be converted to/from these alternative classes:

mrpt::poses::CPose3DQuatPDFGaussian

Definition at line 46 of file CActionRobotMovement3D.h.

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

◆ rawOdometryIncrementReading

mrpt::poses::CPose3D mrpt::obs::CActionRobotMovement3D::rawOdometryIncrementReading {}

This is the raw odometry reading, and only is used when "estimationMethod" is "TEstimationMethod::emOdometry".

Definition at line 50 of file CActionRobotMovement3D.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::obs::CActionRobotMovement3D::runtimeClassId

staticprotected

Definition at line 28 of file CActionRobotMovement3D.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().

◆ velocities

mrpt::math::CVectorFloat mrpt::obs::CActionRobotMovement3D::velocities {6}

The velocity of the robot in each of 6D: v_x,v_y,v_z,v_yaw,v_pitch,v_roll (linear in meters/sec and angular in rad/sec).

Definition at line 127 of file CActionRobotMovement3D.h.

Detailed Description

Classes

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Member Enumeration Documentation

◆ TDrawSampleMotionModel

◆ TEstimationMethod

Constructor & Destructor Documentation

◆ CActionRobotMovement3D()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ computeFromOdometry()

◆ computeFromOdometry_model6DOF()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ getClassName()

◆ getDescriptionAsText()

◆ getDescriptionAsTextValue()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ writeToMatlab()

Member Data Documentation

◆ className

◆ estimationMethod

◆ hasVelocities

◆ motionModelConfiguration

◆ poseChange

◆ rawOdometryIncrementReading

◆ runtimeClassId

◆ timestamp

◆ velocities