MRPT  1.9.9
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mrpt::poses::CPoses3DSequence Class Reference

Detailed Description

This class stores a sequence of relative, incremental 3D poses.

It is useful as the bases storing unit for more complex probability particles and for computing the absolute pose of any intermediate pose.

See also
CPose3D, CMultiMetricMap

Definition at line 23 of file CPoses3DSequence.h.

#include <mrpt/poses/CPoses3DSequence.h>

Inheritance diagram for mrpt::poses::CPoses3DSequence:

Public Member Functions

size_t posesCount ()
 Returns the poses count in the sequence: More...
 
void getPose (unsigned int ind, CPose3D &outPose)
 Reads the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1". More...
 
void changePose (unsigned int ind, CPose3D &inPose)
 Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1". More...
 
void appendPose (CPose3D &newPose)
 Appends a new pose at the end of sequence. More...
 
void clear ()
 Clears the sequence. More...
 
CPose3D absolutePoseOf (unsigned int n)
 Returns the absolute pose of a robot after moving "n" poses, so for "n=0" the origin pose (0,0,0deg) is returned, for "n=1" the first pose is returned, and for "n=posesCount()", the pose of robot after moving ALL poses is returned, all of them relative to the starting pose. More...
 
CPose3D absolutePoseAfterAll ()
 A shortcut for "absolutePoseOf( posesCount() )". More...
 
float computeTraveledDistanceAfter (unsigned int n)
 Returns the traveled distance after moving "n" poses, so for "n=0" it returns 0, for "n=1" the first traveled distance, and for "n=posesCount()", the total distance after ALL movements. More...
 
float computeTraveledDistanceAfterAll ()
 Returns the traveled distance after ALL movements. More...
 
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...
 
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...
 

Private Attributes

std::vector< mrpt::math::TPose3Dm_poses
 The internal sequence of poses, stored as relative, incremental poses, thus each one is situated just at the end point of last one, where the first one is referenced to (0,0,0deg) More...
 

RTTI stuff

using Ptr = std::shared_ptr< mrpt::poses ::CPoses3DSequence >
 
using ConstPtr = std::shared_ptr< const mrpt::poses ::CPoses3DSequence >
 
using UniquePtr = std::unique_ptr< mrpt::poses ::CPoses3DSequence >
 
using ConstUniquePtr = std::unique_ptr< const mrpt::poses ::CPoses3DSequence >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "mrpt::poses" "::" "CPoses3DSequence"
 
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...
 

Member Typedef Documentation

◆ ConstPtr

Definition at line 25 of file CPoses3DSequence.h.

◆ ConstUniquePtr

using mrpt::poses::CPoses3DSequence::ConstUniquePtr = std::unique_ptr<const mrpt::poses :: CPoses3DSequence >

Definition at line 25 of file CPoses3DSequence.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 25 of file CPoses3DSequence.h.

◆ UniquePtr

using mrpt::poses::CPoses3DSequence::UniquePtr = std::unique_ptr< mrpt::poses :: CPoses3DSequence >

Definition at line 25 of file CPoses3DSequence.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPoses3DSequence::_GetBaseClass ( )
staticprotected

◆ absolutePoseAfterAll()

CPose3D CPoses3DSequence::absolutePoseAfterAll ( )

A shortcut for "absolutePoseOf( posesCount() )".

See also
absolutePoseOf, posesCount

Definition at line 103 of file CPoses3DSequence.cpp.

◆ absolutePoseOf()

CPose3D CPoses3DSequence::absolutePoseOf ( unsigned int  n)

Returns the absolute pose of a robot after moving "n" poses, so for "n=0" the origin pose (0,0,0deg) is returned, for "n=1" the first pose is returned, and for "n=posesCount()", the pose of robot after moving ALL poses is returned, all of them relative to the starting pose.

Exceptions
std::exceptionOn invalid index value
See also
absolutePoseAfterAll

Definition at line 87 of file CPoses3DSequence.cpp.

References THROW_EXCEPTION.

◆ appendPose()

void CPoses3DSequence::appendPose ( CPose3D newPose)

Appends a new pose at the end of sequence.

Remember that poses are relative, incremental to the last one.

Definition at line 70 of file CPoses3DSequence.cpp.

References mrpt::poses::CPose3D::asTPose().

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◆ changePose()

void CPoses3DSequence::changePose ( unsigned int  ind,
CPose3D inPose 
)

Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1".

Exceptions
std::exceptionOn invalid index value

Definition at line 60 of file CPoses3DSequence.cpp.

References mrpt::poses::CPose3D::asTPose(), and THROW_EXCEPTION.

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◆ clear()

void CPoses3DSequence::clear ( )

Clears the sequence.

Definition at line 78 of file CPoses3DSequence.cpp.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPoses3DSequence::clone ( ) const
overridevirtual

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

Implements mrpt::rtti::CObject.

◆ computeTraveledDistanceAfter()

float CPoses3DSequence::computeTraveledDistanceAfter ( unsigned int  n)

Returns the traveled distance after moving "n" poses, so for "n=0" it returns 0, for "n=1" the first traveled distance, and for "n=posesCount()", the total distance after ALL movements.

Exceptions
std::exceptionOn invalid index value
See also
computeTraveledDistanceAfterAll

Definition at line 114 of file CPoses3DSequence.cpp.

References mrpt::math::norm(), and THROW_EXCEPTION.

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◆ computeTraveledDistanceAfterAll()

float CPoses3DSequence::computeTraveledDistanceAfterAll ( )

Returns the traveled distance after ALL movements.

A shortcut for "computeTraveledDistanceAfter( posesCount() )".

See also
computeTraveledDistanceAfter

Definition at line 130 of file CPoses3DSequence.cpp.

◆ Create()

template<typename... Args>
static Ptr mrpt::poses::CPoses3DSequence::Create ( Args &&...  args)
inlinestatic

Definition at line 25 of file CPoses3DSequence.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::poses::CPoses3DSequence::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 25 of file CPoses3DSequence.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::poses::CPoses3DSequence::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::poses::CPoses3DSequence::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 25 of file CPoses3DSequence.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().

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◆ getClassName()

static constexpr auto mrpt::poses::CPoses3DSequence::getClassName ( )
inlinestatic

Definition at line 25 of file CPoses3DSequence.h.

◆ getPose()

void CPoses3DSequence::getPose ( unsigned int  ind,
CPose3D outPose 
)

Reads the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1".

Exceptions
std::exceptionOn invalid index value

Definition at line 49 of file CPoses3DSequence.cpp.

References THROW_EXCEPTION.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPoses3DSequence::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::CPoses3DSequence::GetRuntimeClassIdStatic ( )
static

◆ posesCount()

size_t CPoses3DSequence::posesCount ( )

Returns the poses count in the sequence:

Definition at line 22 of file CPoses3DSequence.cpp.

◆ serializeFrom() [1/2]

void CPoses3DSequence::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 29 of file CPoses3DSequence.cpp.

References 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 CPoses3DSequence::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 23 of file CPoses3DSequence.cpp.

◆ serializeTo() [1/2]

void CPoses3DSequence::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 24 of file CPoses3DSequence.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::poses::CPoses3DSequence::className = "mrpt::poses" "::" "CPoses3DSequence"
static

Definition at line 25 of file CPoses3DSequence.h.

◆ m_poses

std::vector<mrpt::math::TPose3D> mrpt::poses::CPoses3DSequence::m_poses
private

The internal sequence of poses, stored as relative, incremental poses, thus each one is situated just at the end point of last one, where the first one is referenced to (0,0,0deg)

Definition at line 87 of file CPoses3DSequence.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPoses3DSequence::runtimeClassId
staticprotected

Definition at line 25 of file CPoses3DSequence.h.




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