MRPT
1.9.9
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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
Definition at line 27 of file CActionRobotMovement3D.h.
#include <mrpt/obs/CActionRobotMovement3D.h>
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 | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) noexcept |
void | operator delete[] (void *ptr) noexcept |
void | operator delete (void *memory, void *ptr) noexcept |
void * | operator new (size_t size, const std::nothrow_t &) noexcept |
void | operator delete (void *ptr, const std::nothrow_t &) noexcept |
CActionRobotMovement3D () | |
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 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 |
Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More... | |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
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 |
This fields indicates the way this estimation was obtained. More... | |
struct mrpt::obs::CActionRobotMovement3D::TMotionModelOptions | motionModelConfiguration |
std::vector< bool > | hasVelocities |
Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries. More... | |
mrpt::math::CVectorFloat | velocities |
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... | |
RTTI stuff | |
using | Ptr = std::shared_ptr< CActionRobotMovement3D > |
using | ConstPtr = std::shared_ptr< const CActionRobotMovement3D > |
using | UniquePtr = std::unique_ptr< CActionRobotMovement3D > |
using | ConstUniquePtr = std::unique_ptr< const CActionRobotMovement3D > |
static mrpt::rtti::CLASSINIT | _init_CActionRobotMovement3D |
static const mrpt::rtti::TRuntimeClassId | runtimeClassId |
static constexpr const char * | className = "CActionRobotMovement3D" |
static const mrpt::rtti::TRuntimeClassId * | _GetBaseClass () |
static constexpr auto | getClassName () |
static const mrpt::rtti::TRuntimeClassId & | GetRuntimeClassIdStatic () |
static mrpt::rtti::CObject * | CreateObject () |
template<typename... Args> | |
static Ptr | Create (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... | |
Definition at line 29 of file CActionRobotMovement3D.h.
using mrpt::obs::CActionRobotMovement3D::ConstUniquePtr = std::unique_ptr<const CActionRobotMovement3D > |
Definition at line 29 of file CActionRobotMovement3D.h.
A type for the associated smart pointer
Definition at line 29 of file CActionRobotMovement3D.h.
using mrpt::obs::CActionRobotMovement3D::UniquePtr = std::unique_ptr< CActionRobotMovement3D > |
Definition at line 29 of file CActionRobotMovement3D.h.
Enumerator | |
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mmGaussian | |
mm6DOF |
Definition at line 56 of file CActionRobotMovement3D.h.
A list of posible ways for estimating the content of a CActionRobotMovement3D object.
Enumerator | |
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emOdometry | |
emVisualOdometry |
Definition at line 35 of file CActionRobotMovement3D.h.
CActionRobotMovement3D::CActionRobotMovement3D | ( | ) |
Definition at line 27 of file CActionRobotMovement3D.cpp.
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staticprotected |
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overridevirtual |
Returns a deep copy (clone) of the object, indepently of its class.
Implements mrpt::rtti::CObject.
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).
Definition at line 76 of file CActionRobotMovement3D.cpp.
References mrpt::obs::CActionRobotMovement3D::TMotionModelOptions::modelSelection.
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
Definition at line 112 of file CActionRobotMovement3D.cpp.
References mrpt::obs::CActionRobotMovement3D::TMotionModelOptions::TOptions_6DOFModel::a1, mrpt::obs::CActionRobotMovement3D::TMotionModelOptions::TOptions_6DOFModel::a10, mrpt::obs::CActionRobotMovement3D::TMotionModelOptions::TOptions_6DOFModel::a2, mrpt::obs::CActionRobotMovement3D::TMotionModelOptions::TOptions_6DOFModel::a3, mrpt::obs::CActionRobotMovement3D::TMotionModelOptions::TOptions_6DOFModel::a4, mrpt::obs::CActionRobotMovement3D::TMotionModelOptions::TOptions_6DOFModel::a5, mrpt::obs::CActionRobotMovement3D::TMotionModelOptions::TOptions_6DOFModel::a6, mrpt::obs::CActionRobotMovement3D::TMotionModelOptions::TOptions_6DOFModel::a7, mrpt::obs::CActionRobotMovement3D::TMotionModelOptions::TOptions_6DOFModel::a8, mrpt::obs::CActionRobotMovement3D::TMotionModelOptions::TOptions_6DOFModel::a9, mrpt::obs::CActionRobotMovement3D::TMotionModelOptions::TOptions_6DOFModel::additional_std_angle, mrpt::obs::CActionRobotMovement3D::TMotionModelOptions::TOptions_6DOFModel::additional_std_XYZ, mrpt::poses::CPose3DPDFGaussian::copyFrom(), mrpt::random::CRandomGenerator::drawGaussian1D_normalized(), mrpt::random::getRandomGenerator(), mrpt::obs::CActionRobotMovement3D::TMotionModelOptions::mm6DOFModel, motionModelConfiguration, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::norm(), mrpt::obs::CActionRobotMovement3D::TMotionModelOptions::TOptions_6DOFModel::nParticlesCount, mrpt::poses::CPose3D::pitch(), poseChange, mrpt::poses::CPose3DPDFParticles::resetDeterministic(), mrpt::poses::CPose3D::roll(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::poses::CPose3D::yaw().
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inlinestatic |
Definition at line 29 of file CActionRobotMovement3D.h.
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inlinestatic |
Definition at line 29 of file CActionRobotMovement3D.h.
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inlineinherited |
Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).
Definition at line 168 of file CObject.h.
References mrpt::rtti::CObject::clone().
Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().
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inlinestatic |
Definition at line 29 of file CActionRobotMovement3D.h.
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overridevirtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::obs::CAction.
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static |
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inlinenoexcept |
Definition at line 29 of file CActionRobotMovement3D.h.
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inlinenoexcept |
Definition at line 29 of file CActionRobotMovement3D.h.
Definition at line 29 of file CActionRobotMovement3D.h.
Definition at line 29 of file CActionRobotMovement3D.h.
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inline |
Definition at line 29 of file CActionRobotMovement3D.h.
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inlinestatic |
Definition at line 29 of file CActionRobotMovement3D.h.
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inlinenoexcept |
Definition at line 29 of file CActionRobotMovement3D.h.
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inline |
Definition at line 29 of file CActionRobotMovement3D.h.
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overrideprotectedvirtual |
Pure virtual method for reading (deserializing) from an abstract archive.
Users don't call this method directly. Instead, use stream >> object;
.
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. |
std::exception | On any I/O error |
Implements mrpt::serialization::CSerializable.
Definition at line 48 of file CActionRobotMovement3D.cpp.
References INVALID_TIMESTAMP, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.
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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 38 of file CActionRobotMovement3D.cpp.
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overrideprotectedvirtual |
Pure virtual method for writing (serializing) to an abstract archive.
Users don't call this method directly. Instead, use stream << object;
.
std::exception | On any I/O error |
Implements mrpt::serialization::CSerializable.
Definition at line 39 of file CActionRobotMovement3D.cpp.
References mrpt::serialization::CArchive::WriteAs().
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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.
mxArray
(caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB. Definition at line 68 of file CSerializable.h.
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staticprotected |
Definition at line 29 of file CActionRobotMovement3D.h.
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static |
Definition at line 29 of file CActionRobotMovement3D.h.
TEstimationMethod mrpt::obs::CActionRobotMovement3D::estimationMethod |
This fields indicates the way this estimation was obtained.
Definition at line 54 of file CActionRobotMovement3D.h.
Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().
std::vector<bool> mrpt::obs::CActionRobotMovement3D::hasVelocities |
Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries.
Definition at line 110 of file CActionRobotMovement3D.h.
struct mrpt::obs::CActionRobotMovement3D::TMotionModelOptions mrpt::obs::CActionRobotMovement3D::motionModelConfiguration |
Referenced by computeFromOdometry_model6DOF().
mrpt::poses::CPose3DPDFGaussian mrpt::obs::CActionRobotMovement3D::poseChange |
The 3D pose change probabilistic estimation.
It can be converted to/from these alternative classes:
Definition at line 47 of file CActionRobotMovement3D.h.
Referenced by computeFromOdometry_model6DOF(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().
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 51 of file CActionRobotMovement3D.h.
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staticprotected |
Definition at line 29 of file CActionRobotMovement3D.h.
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inherited |
The associated time-stamp.
Definition at line 36 of file CAction.h.
Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().
mrpt::math::CVectorFloat mrpt::obs::CActionRobotMovement3D::velocities |
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 116 of file CActionRobotMovement3D.h.
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