MRPT  1.9.9
List of all members | Public Member Functions | Protected Member Functions | Protected Attributes
mrpt::poses::CPose2DInterpolator Class Reference

Detailed Description

This class stores a time-stamped trajectory in SE(2) (mrpt::math::TPose2D poses).

It can also interpolate SE(2) poses over time using linear, splines or SLERP interpolation, as set in CPose2DInterpolator::setInterpolationMethod() Usage:

Time is represented with mrpt::Clock::time_point. See mrpt::system for methods and utilities to manage these time references.

See TInterpolatorMethod for the list of interpolation methods. The default method at constructor is "imLinearSlerp".

See also
CPoseOrPoint

Definition at line 48 of file CPose2DInterpolator.h.

#include <mrpt/poses/CPose2DInterpolator.h>

Inheritance diagram for mrpt::poses::CPose2DInterpolator:

Public Member Functions

virtual mxArraywriteToMatlab () 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...
 
void insert (const mrpt::Clock::time_point &t, const pose_t &p)
 Inserts a new pose in the sequence. More...
 
void insert (const mrpt::Clock::time_point &t, const cpose_t &p)
 Overload (slower) More...
 
pose_tinterpolate (const mrpt::Clock::time_point &t, pose_t &out_interp, bool &out_valid_interp) const
 Returns the pose at a given time, or interpolates using splines if there is not an exact match. More...
 
cpose_tinterpolate (const mrpt::Clock::time_point &t, cpose_t &out_interp, bool &out_valid_interp) const
 
void clear ()
 Clears the current sequence of poses. More...
 
void setMaxTimeInterpolation (const mrpt::Clock::duration &time)
 Set value of the maximum time to consider interpolation. More...
 
mrpt::Clock::duration getMaxTimeInterpolation ()
 Set value of the maximum time to consider interpolation. More...
 
bool getPreviousPoseWithMinDistance (const mrpt::Clock::time_point &t, double distance, pose_t &out_pose)
 Get the previous CPose3D in the map with a minimum defined distance. More...
 
bool getPreviousPoseWithMinDistance (const mrpt::Clock::time_point &t, double distance, cpose_t &out_pose)
 
bool saveToTextFile (const std::string &s) const
 Saves the points in the interpolator to a text file, with this format: Each row contains these elements separated by spaces: More...
 
bool saveInterpolatedToTextFile (const std::string &s, const mrpt::Clock::duration &period) const
 Saves the points in the interpolator to a text file, with the same format that saveToTextFile, but interpolating the path with the given period in seconds. More...
 
bool loadFromTextFile (const std::string &s)
 Loads from a text file, in the format described by saveToTextFile. More...
 
void getBoundingBox (point_t &minCorner, point_t &maxCorner) const
 Computes the bounding box in all Euclidean coordinates of the whole path. More...
 
void setInterpolationMethod (TInterpolatorMethod method)
 Change the method used to interpolate the robot path. More...
 
TInterpolatorMethod getInterpolationMethod () const
 Returns the currently set interpolation method. More...
 
void filter (unsigned int component, unsigned int samples)
 Filters by averaging one of the components of the pose data within the interpolator. 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

void impl_interpolation (const TTimePosePair &p1, const TTimePosePair &p2, const TTimePosePair &p3, const TTimePosePair &p4, const TInterpolatorMethod method, const mrpt::Clock::time_point &td, pose_t &out_interp) const
 
void impl_interpolation (const TTimePosePair &p1, const TTimePosePair &p2, const TTimePosePair &p3, const TTimePosePair &p4, const TInterpolatorMethod method, const mrpt::Clock::time_point &t, pose_t &out_interp) const
 
void impl_interpolation (const TTimePosePair &p1, const TTimePosePair &p2, const TTimePosePair &p3, const TTimePosePair &p4, const TInterpolatorMethod method, const mrpt::Clock::time_point &t, pose_t &out_interp) const
 
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

TPath m_path
 The sequence of poses. More...
 
mrpt::Clock::duration maxTimeInterpolation
 Maximum time considered to interpolate. More...
 
TInterpolatorMethod m_method
 

RTTI stuff

using Ptr = std::shared_ptr< mrpt::poses ::CPose2DInterpolator >
 
using ConstPtr = std::shared_ptr< const mrpt::poses ::CPose2DInterpolator >
 
using UniquePtr = std::unique_ptr< mrpt::poses ::CPose2DInterpolator >
 
using ConstUniquePtr = std::unique_ptr< const mrpt::poses ::CPose2DInterpolator >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "mrpt::poses" "::" "CPose2DInterpolator"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static std::shared_ptr< CObjectCreateObject ()
 
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::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

Type definitions and STL-like container interface

using pose_t = typename Lie::SE< DIM >::light_type
 TPose2D or TPose3D. More...
 
using cpose_t = typename Lie::SE< DIM >::type
 CPose2D or CPose3D. More...
 
using point_t = typename Lie::Euclidean< DIM >::light_type
 TPoint2D or TPoint3D. More...
 
using TTimePosePair = std::pair< mrpt::Clock::time_point, pose_t >
 
using TPath = std::map< mrpt::Clock::time_point, pose_t >
 
using iterator = typename TPath::iterator
 
using const_iterator = typename TPath::const_iterator
 
using reverse_iterator = typename TPath::reverse_iterator
 
using const_reverse_iterator = typename TPath::const_reverse_iterator
 
iterator begin ()
 
const_iterator begin () const
 
const_iterator cbegin () const
 
iterator end ()
 
const_iterator end () const
 
const_iterator cend () const
 
reverse_iterator rbegin ()
 
const_reverse_iterator rbegin () const
 
reverse_iterator rend ()
 
const_reverse_iterator rend () const
 
iterator lower_bound (const mrpt::Clock::time_point &t)
 
const_iterator lower_bound (const mrpt::Clock::time_point &t) const
 
iterator upper_bound (const mrpt::Clock::time_point &t)
 
const_iterator upper_bound (const mrpt::Clock::time_point &t) const
 
iterator erase (iterator element_to_erase)
 
size_t size () const
 
bool empty () const
 
iterator find (const mrpt::Clock::time_point &t)
 
const_iterator find (const mrpt::Clock::time_point &t) const
 
pose_tat (const mrpt::Clock::time_point &t)
 
const pose_tat (const mrpt::Clock::time_point &t) const
 

Member Typedef Documentation

◆ const_iterator

using mrpt::poses::CPoseInterpolatorBase< DIM >::const_iterator = typename TPath::const_iterator
inherited

Definition at line 69 of file CPoseInterpolatorBase.h.

◆ const_reverse_iterator

using mrpt::poses::CPoseInterpolatorBase< DIM >::const_reverse_iterator = typename TPath::const_reverse_iterator
inherited

Definition at line 71 of file CPoseInterpolatorBase.h.

◆ ConstPtr

Definition at line 52 of file CPose2DInterpolator.h.

◆ ConstUniquePtr

using mrpt::poses::CPose2DInterpolator::ConstUniquePtr = std::unique_ptr<const mrpt::poses :: CPose2DInterpolator >

Definition at line 52 of file CPose2DInterpolator.h.

◆ cpose_t

using mrpt::poses::CPoseInterpolatorBase< DIM >::cpose_t = typename Lie::SE<DIM>::type
inherited

CPose2D or CPose3D.

Definition at line 62 of file CPoseInterpolatorBase.h.

◆ iterator

using mrpt::poses::CPoseInterpolatorBase< DIM >::iterator = typename TPath::iterator
inherited

Definition at line 68 of file CPoseInterpolatorBase.h.

◆ point_t

using mrpt::poses::CPoseInterpolatorBase< DIM >::point_t = typename Lie::Euclidean<DIM>::light_type
inherited

TPoint2D or TPoint3D.

Definition at line 64 of file CPoseInterpolatorBase.h.

◆ pose_t

using mrpt::poses::CPoseInterpolatorBase< DIM >::pose_t = typename Lie::SE<DIM>::light_type
inherited

TPose2D or TPose3D.

Definition at line 60 of file CPoseInterpolatorBase.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 52 of file CPose2DInterpolator.h.

◆ reverse_iterator

using mrpt::poses::CPoseInterpolatorBase< DIM >::reverse_iterator = typename TPath::reverse_iterator
inherited

Definition at line 70 of file CPoseInterpolatorBase.h.

◆ TPath

Definition at line 67 of file CPoseInterpolatorBase.h.

◆ TTimePosePair

Definition at line 66 of file CPoseInterpolatorBase.h.

◆ UniquePtr

using mrpt::poses::CPose2DInterpolator::UniquePtr = std::unique_ptr< mrpt::poses :: CPose2DInterpolator >

Definition at line 52 of file CPose2DInterpolator.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose2DInterpolator::_GetBaseClass ( )
staticprotected

◆ at() [1/2]

pose_t& mrpt::poses::CPoseInterpolatorBase< DIM >::at ( const mrpt::Clock::time_point t)
inlineinherited

Definition at line 114 of file CPoseInterpolatorBase.h.

◆ at() [2/2]

const pose_t& mrpt::poses::CPoseInterpolatorBase< DIM >::at ( const mrpt::Clock::time_point t) const
inlineinherited

Definition at line 115 of file CPoseInterpolatorBase.h.

◆ begin() [1/2]

iterator mrpt::poses::CPoseInterpolatorBase< DIM >::begin ( )
inlineinherited

Definition at line 73 of file CPoseInterpolatorBase.h.

◆ begin() [2/2]

const_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::begin ( ) const
inlineinherited

Definition at line 74 of file CPoseInterpolatorBase.h.

◆ cbegin()

const_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::cbegin ( ) const
inlineinherited

Definition at line 75 of file CPoseInterpolatorBase.h.

◆ cend()

const_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::cend ( ) const
inlineinherited

Definition at line 78 of file CPoseInterpolatorBase.h.

◆ clear()

void mrpt::poses::CPoseInterpolatorBase< DIM >::clear ( )
inherited

Clears the current sequence of poses.

Definition at line 35 of file CPoseInterpolatorBase.hpp.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPose2DInterpolator::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::poses::CPose2DInterpolator::Create ( Args &&...  args)
inlinestatic

Definition at line 52 of file CPose2DInterpolator.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::poses::CPose2DInterpolator::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 52 of file CPose2DInterpolator.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::poses::CPose2DInterpolator::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::poses::CPose2DInterpolator::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 52 of file CPose2DInterpolator.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::addActions(), and mrpt::obs::CRawlog::addObservations().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ empty()

bool mrpt::poses::CPoseInterpolatorBase< DIM >::empty ( ) const
inlineinherited

Definition at line 108 of file CPoseInterpolatorBase.h.

◆ end() [1/2]

iterator mrpt::poses::CPoseInterpolatorBase< DIM >::end ( )
inlineinherited

Definition at line 76 of file CPoseInterpolatorBase.h.

◆ end() [2/2]

const_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::end ( ) const
inlineinherited

Definition at line 77 of file CPoseInterpolatorBase.h.

◆ erase()

iterator mrpt::poses::CPoseInterpolatorBase< DIM >::erase ( iterator  element_to_erase)
inlineinherited

Definition at line 101 of file CPoseInterpolatorBase.h.

◆ filter()

void mrpt::poses::CPoseInterpolatorBase< DIM >::filter ( unsigned int  component,
unsigned int  samples 
)
inherited

Filters by averaging one of the components of the pose data within the interpolator.

The width of the filter is set by the number of samples.

Parameters
component[IN] The index of the component to filter: 0 (x), 1 (y), 2 (z), 3 (yaw), 4 (pitch) or 5 (roll)
samples[IN] The width of the average filter.

Definition at line 374 of file CPoseInterpolatorBase.hpp.

◆ find() [1/2]

iterator mrpt::poses::CPoseInterpolatorBase< DIM >::find ( const mrpt::Clock::time_point t)
inlineinherited

Definition at line 109 of file CPoseInterpolatorBase.h.

◆ find() [2/2]

const_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::find ( const mrpt::Clock::time_point t) const
inlineinherited

Definition at line 110 of file CPoseInterpolatorBase.h.

◆ getBoundingBox()

void mrpt::poses::CPoseInterpolatorBase< DIM >::getBoundingBox ( point_t minCorner,
point_t maxCorner 
) const
inherited

Computes the bounding box in all Euclidean coordinates of the whole path.

Exceptions
std::exceptionOn empty path

Definition at line 337 of file CPoseInterpolatorBase.hpp.

◆ getClassName()

static constexpr auto mrpt::poses::CPose2DInterpolator::getClassName ( )
inlinestatic

Definition at line 52 of file CPose2DInterpolator.h.

◆ getInterpolationMethod()

TInterpolatorMethod mrpt::poses::CPoseInterpolatorBase< DIM >::getInterpolationMethod ( ) const
inherited

Returns the currently set interpolation method.

See also
setInterpolationMethod()

Definition at line 368 of file CPoseInterpolatorBase.hpp.

◆ getMaxTimeInterpolation()

mrpt::Clock::duration mrpt::poses::CPoseInterpolatorBase< DIM >::getMaxTimeInterpolation ( )
inherited

Set value of the maximum time to consider interpolation.

Definition at line 230 of file CPoseInterpolatorBase.hpp.

◆ getPreviousPoseWithMinDistance() [1/2]

bool mrpt::poses::CPoseInterpolatorBase< DIM >::getPreviousPoseWithMinDistance ( const mrpt::Clock::time_point t,
double  distance,
pose_t out_pose 
)
inherited

Get the previous CPose3D in the map with a minimum defined distance.

Returns
true if pose was found, false otherwise

Definition at line 191 of file CPoseInterpolatorBase.hpp.

◆ getPreviousPoseWithMinDistance() [2/2]

bool mrpt::poses::CPoseInterpolatorBase< DIM >::getPreviousPoseWithMinDistance ( const mrpt::Clock::time_point t,
double  distance,
cpose_t out_pose 
)
inherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 181 of file CPoseInterpolatorBase.hpp.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPose2DInterpolator::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::poses::CPose2DInterpolator::GetRuntimeClassIdStatic ( )
static

◆ impl_interpolation() [1/3]

void mrpt::poses::CPoseInterpolatorBase< 2 >::impl_interpolation ( const TTimePosePair p1,
const TTimePosePair p2,
const TTimePosePair p3,
const TTimePosePair p4,
const TInterpolatorMethod  method,
const mrpt::Clock::time_point t,
pose_t out_interp 
) const
protectedinherited

Definition at line 45 of file CPose2DInterpolator.cpp.

◆ impl_interpolation() [2/3]

void mrpt::poses::CPoseInterpolatorBase< 3 >::impl_interpolation ( const TTimePosePair p1,
const TTimePosePair p2,
const TTimePosePair p3,
const TTimePosePair p4,
const TInterpolatorMethod  method,
const mrpt::Clock::time_point t,
pose_t out_interp 
) const
protectedinherited

Definition at line 56 of file CPose3DInterpolator.cpp.

◆ impl_interpolation() [3/3]

void mrpt::poses::CPoseInterpolatorBase< DIM >::impl_interpolation ( const TTimePosePair p1,
const TTimePosePair p2,
const TTimePosePair p3,
const TTimePosePair p4,
const TInterpolatorMethod  method,
const mrpt::Clock::time_point td,
pose_t out_interp 
) const
protectedinherited

◆ insert() [1/2]

void mrpt::poses::CPoseInterpolatorBase< DIM >::insert ( const mrpt::Clock::time_point t,
const pose_t p 
)
inherited

Inserts a new pose in the sequence.

It overwrites any previously existing pose at exactly the same time.

Definition at line 47 of file CPoseInterpolatorBase.hpp.

◆ insert() [2/2]

void mrpt::poses::CPoseInterpolatorBase< DIM >::insert ( const mrpt::Clock::time_point t,
const cpose_t p 
)
inherited

Overload (slower)

Definition at line 41 of file CPoseInterpolatorBase.hpp.

◆ interpolate() [1/2]

CPoseInterpolatorBase< DIM >::pose_t & mrpt::poses::CPoseInterpolatorBase< DIM >::interpolate ( const mrpt::Clock::time_point t,
pose_t out_interp,
bool &  out_valid_interp 
) const
inherited

Returns the pose at a given time, or interpolates using splines if there is not an exact match.

Parameters
tThe time of the point to interpolate.
out_interpThe output interpolated pose.
out_valid_interpWhether there was information enough to compute the interpolation.
Returns
A reference to out_interp

Definition at line 70 of file CPoseInterpolatorBase.hpp.

◆ interpolate() [2/2]

CPoseInterpolatorBase< DIM >::cpose_t & mrpt::poses::CPoseInterpolatorBase< DIM >::interpolate ( const mrpt::Clock::time_point t,
cpose_t out_interp,
bool &  out_valid_interp 
) const
inherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 58 of file CPoseInterpolatorBase.hpp.

◆ loadFromTextFile()

bool mrpt::poses::CPoseInterpolatorBase< DIM >::loadFromTextFile ( const std::string s)
inherited

Loads from a text file, in the format described by saveToTextFile.

Returns
true on success, false on any error.
Exceptions
std::exceptionOn invalid file format

Definition at line 303 of file CPoseInterpolatorBase.hpp.

◆ lower_bound() [1/2]

iterator mrpt::poses::CPoseInterpolatorBase< DIM >::lower_bound ( const mrpt::Clock::time_point t)
inlineinherited

Definition at line 83 of file CPoseInterpolatorBase.h.

◆ lower_bound() [2/2]

const_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::lower_bound ( const mrpt::Clock::time_point t) const
inlineinherited

Definition at line 87 of file CPoseInterpolatorBase.h.

◆ rbegin() [1/2]

reverse_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::rbegin ( )
inlineinherited

Definition at line 79 of file CPoseInterpolatorBase.h.

◆ rbegin() [2/2]

const_reverse_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::rbegin ( ) const
inlineinherited

Definition at line 80 of file CPoseInterpolatorBase.h.

◆ rend() [1/2]

reverse_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::rend ( )
inlineinherited

Definition at line 81 of file CPoseInterpolatorBase.h.

◆ rend() [2/2]

const_reverse_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::rend ( ) const
inlineinherited

Definition at line 82 of file CPoseInterpolatorBase.h.

◆ saveInterpolatedToTextFile()

bool mrpt::poses::CPoseInterpolatorBase< DIM >::saveInterpolatedToTextFile ( const std::string s,
const mrpt::Clock::duration period 
) const
inherited

Saves the points in the interpolator to a text file, with the same format that saveToTextFile, but interpolating the path with the given period in seconds.

See also
loadFromTextFile
Returns
true on success, false on any error.

Definition at line 265 of file CPoseInterpolatorBase.hpp.

◆ saveToTextFile()

bool mrpt::poses::CPoseInterpolatorBase< DIM >::saveToTextFile ( const std::string s) const
inherited

Saves the points in the interpolator to a text file, with this format: Each row contains these elements separated by spaces:

Definition at line 236 of file CPoseInterpolatorBase.hpp.

◆ serializeFrom() [1/2]

void CPose2DInterpolator::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
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 26 of file CPose2DInterpolator.cpp.

References mrpt::poses::CPoseInterpolatorBase< 2 >::m_path, 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.

Here is the call graph for this function:

◆ serializeGetVersion()

uint8_t CPose2DInterpolator::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 21 of file CPose2DInterpolator.cpp.

◆ serializeTo() [1/2]

void CPose2DInterpolator::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::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 22 of file CPose2DInterpolator.cpp.

References mrpt::poses::CPoseInterpolatorBase< 2 >::m_path, and 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.

Here is the call graph for this function:

◆ setInterpolationMethod()

void mrpt::poses::CPoseInterpolatorBase< DIM >::setInterpolationMethod ( TInterpolatorMethod  method)
inherited

Change the method used to interpolate the robot path.

The default method at construction is "imSpline".

See also
getInterpolationMethod()

Definition at line 361 of file CPoseInterpolatorBase.hpp.

◆ setMaxTimeInterpolation()

void mrpt::poses::CPoseInterpolatorBase< DIM >::setMaxTimeInterpolation ( const mrpt::Clock::duration time)
inherited

Set value of the maximum time to consider interpolation.

If set to a negative value, the check is disabled (default behavior).

Definition at line 222 of file CPoseInterpolatorBase.hpp.

◆ size()

size_t mrpt::poses::CPoseInterpolatorBase< DIM >::size ( ) const
inlineinherited

Definition at line 107 of file CPoseInterpolatorBase.h.

◆ upper_bound() [1/2]

iterator mrpt::poses::CPoseInterpolatorBase< DIM >::upper_bound ( const mrpt::Clock::time_point t)
inlineinherited

Definition at line 92 of file CPoseInterpolatorBase.h.

◆ upper_bound() [2/2]

const_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::upper_bound ( const mrpt::Clock::time_point t) const
inlineinherited

Definition at line 96 of file CPoseInterpolatorBase.h.

◆ 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::poses::CPose2DInterpolator::className = "mrpt::poses" "::" "CPose2DInterpolator"
static

Definition at line 52 of file CPose2DInterpolator.h.

◆ m_method

TInterpolatorMethod mrpt::poses::CPoseInterpolatorBase< DIM >::m_method
protectedinherited

Definition at line 212 of file CPoseInterpolatorBase.h.

◆ m_path

TPath mrpt::poses::CPoseInterpolatorBase< DIM >::m_path
protectedinherited

The sequence of poses.

Definition at line 207 of file CPoseInterpolatorBase.h.

Referenced by serializeFrom(), and serializeTo().

◆ maxTimeInterpolation

mrpt::Clock::duration mrpt::poses::CPoseInterpolatorBase< DIM >::maxTimeInterpolation
protectedinherited

Maximum time considered to interpolate.

If the difference between the desired timestamp where to interpolate and the next timestamp stored in the map is bigger than this value, the interpolation will not be done.

Definition at line 211 of file CPoseInterpolatorBase.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPose2DInterpolator::runtimeClassId
staticprotected

Definition at line 52 of file CPose2DInterpolator.h.




Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: ce444d842 Fri Dec 6 19:35:10 2019 +0100 at vie dic 6 19:45:12 CET 2019