Detailed Description

This class stores a time-stamped trajectory in SE(3) (CPose3D poses).

It can also interpolate SE(3) poses over time using linear, splines or SLERP interpolation, as set in CPose3DInterpolator::setInterpolationMethod() Usage:

Insert new poses into the sequence with CPose3DInterpolator::insert()
Query an exact/interpolated pose with CPose3DInterpolator::interpolate(). Example:
CPose3DInterpolator path;
path.setInterpolationMethod( mrpt::poses::imSplineSlerp );
path.insert( t0, mrpt::poses::CPose3D(...) );
path.insert( t1, mrpt::math::TPose3D(...) ); // prefered (faster)
mrpt::math::TPose3D p;
bool valid;
cout << "Pose at t: " << path.interpolate(t,p,valid).asString() << endl;

Time is represented with mrpt::system::TTimeStamp. 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 47 of file CPose3DInterpolator.h.

#include <mrpt/poses/CPose3DInterpolator.h>

Inheritance diagram for mrpt::poses::CPose3DInterpolator:

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) throw ()

void	operator delete[] (void *ptr) throw ()

void	operator delete (void memory, void ptr) throw ()

void *	operator new (size_t size, const std::nothrow_t &) throw ()

void	operator delete (void *ptr, const std::nothrow_t &) throw ()

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...

CObject *	clone () const
	Cloning interface for smart pointers. More...

void	insert (mrpt::system::TTimeStamp t, const pose_t &p)
	Inserts a new pose in the sequence. More...

void	insert (mrpt::system::TTimeStamp t, const cpose_t &p)
	Overload (slower) More...

pose_t &	interpolate (mrpt::system::TTimeStamp 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_t &	interpolate (mrpt::system::TTimeStamp t, cpose_t &out_interp, bool &out_valid_interp) const

void	clear ()
	Clears the current sequence of poses. More...

void	setMaxTimeInterpolation (double time)
	Set value of the maximum time to consider interpolation. More...

double	getMaxTimeInterpolation ()
	Set value of the maximum time to consider interpolation. More...

bool	getPreviousPoseWithMinDistance (const mrpt::system::TTimeStamp &t, double distance, pose_t &out_pose)
	Get the previous CPose3D in the map with a minimum defined distance. More...

bool	getPreviousPoseWithMinDistance (const mrpt::system::TTimeStamp &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, double 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. The default method at construction is "imSpline". 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
mrpt::utils::CObjectPtr	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)

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
void	impl_interpolation (const mrpt::math::CArrayDouble< 4 > &ts, const TTimePosePair p1, const TTimePosePair p2, const TTimePosePair p3, const TTimePosePair p4, const TInterpolatorMethod method, double td, pose_t &out_interp) const

void	impl_interpolation (const mrpt::math::CArrayDouble< 4 > &ts, const TTimePosePair p1, const TTimePosePair p2, const TTimePosePair p3, const TTimePosePair p4, const TInterpolatorMethod method, double td, pose_t &out_interp) const

void	impl_interpolation (const mrpt::math::CArrayDouble< 4 > &ts, const TTimePosePair p1, const TTimePosePair p2, const TTimePosePair p3, const TTimePosePair p4, const TInterpolatorMethod method, double td, pose_t &out_interp) const

CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version)
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

Protected Attributes
TPath	m_path
	The sequence of poses. More...

double	maxTimeInterpolation
	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. More...

TInterpolatorMethod	m_method

RTTI stuff
typedef CPose3DInterpolatorPtr	Ptr

typedef CPose3DInterpolatorPtr	ConstPtr

static mrpt::utils::CLASSINIT	_init_CPose3DInterpolator

static mrpt::utils::TRuntimeClassId	classCPose3DInterpolator

static const mrpt::utils::TRuntimeClassId *	classinfo

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime. More...

virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...

static mrpt::utils::CObject *	CreateObject ()

static CPose3DInterpolatorPtr	Create ()

Type definitions and STL-like container interface
typedef mrpt::poses::SE_traits< DIM >::lightweight_pose_t	pose_t
	TPose2D or TPose3D. More...

typedef mrpt::poses::SE_traits< DIM >::pose_t	cpose_t
	CPose2D or CPose3D. More...

typedef mrpt::poses::SE_traits< DIM >::point_t	point_t
	TPoint2D or TPoint3D. More...

typedef std::pair< mrpt::system::TTimeStamp, pose_t >	TTimePosePair

typedef std::map< mrpt::system::TTimeStamp, pose_t >	TPath

typedef TPath::iterator	iterator

typedef TPath::const_iterator	const_iterator

typedef TPath::reverse_iterator	reverse_iterator

typedef TPath::const_reverse_iterator	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::system::TTimeStamp &t)

const_iterator	lower_bound (const mrpt::system::TTimeStamp &t) const

iterator	upper_bound (const mrpt::system::TTimeStamp &t)

const_iterator	upper_bound (const mrpt::system::TTimeStamp &t) const

iterator	erase (iterator element_to_erase)

size_t	size () const

bool	empty () const

iterator	find (const mrpt::system::TTimeStamp &t)

const_iterator	find (const mrpt::system::TTimeStamp &t) const

Member Typedef Documentation

◆ const_iterator

typedef TPath::const_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::const_iterator

inherited

Definition at line 62 of file CPoseInterpolatorBase.h.

◆ const_reverse_iterator

typedef TPath::const_reverse_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::const_reverse_iterator

inherited

Definition at line 64 of file CPoseInterpolatorBase.h.

◆ ConstPtr

typedef CPose3DInterpolatorPtr mrpt::poses::CPose3DInterpolator::ConstPtr

Definition at line 52 of file CPose3DInterpolator.h.

◆ cpose_t

typedef mrpt::poses::SE_traits<DIM>::pose_t mrpt::poses::CPoseInterpolatorBase< DIM >::cpose_t

inherited

CPose2D or CPose3D.

Definition at line 56 of file CPoseInterpolatorBase.h.

◆ iterator

typedef TPath::iterator mrpt::poses::CPoseInterpolatorBase< DIM >::iterator

inherited

Definition at line 61 of file CPoseInterpolatorBase.h.

◆ point_t

typedef mrpt::poses::SE_traits<DIM>::point_t mrpt::poses::CPoseInterpolatorBase< DIM >::point_t

inherited

TPoint2D or TPoint3D.

Definition at line 57 of file CPoseInterpolatorBase.h.

◆ pose_t

typedef mrpt::poses::SE_traits<DIM>::lightweight_pose_t mrpt::poses::CPoseInterpolatorBase< DIM >::pose_t

inherited

TPose2D or TPose3D.

Definition at line 55 of file CPoseInterpolatorBase.h.

◆ Ptr

typedef CPose3DInterpolatorPtr mrpt::poses::CPose3DInterpolator::Ptr

A typedef for the associated smart pointer

Definition at line 52 of file CPose3DInterpolator.h.

◆ reverse_iterator

typedef TPath::reverse_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::reverse_iterator

inherited

Definition at line 63 of file CPoseInterpolatorBase.h.

◆ TPath

typedef std::map<mrpt::system::TTimeStamp,pose_t> mrpt::poses::CPoseInterpolatorBase< DIM >::TPath

inherited

Definition at line 60 of file CPoseInterpolatorBase.h.

◆ TTimePosePair

typedef std::pair<mrpt::system::TTimeStamp,pose_t> mrpt::poses::CPoseInterpolatorBase< DIM >::TTimePosePair

inherited

Definition at line 59 of file CPoseInterpolatorBase.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DInterpolator::_GetBaseClass ( )

staticprotected

◆ begin() [1/2]

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

inlineinherited

Definition at line 66 of file CPoseInterpolatorBase.h.

◆ begin() [2/2]

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

inlineinherited

Definition at line 67 of file CPoseInterpolatorBase.h.

◆ cbegin()

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

inlineinherited

Definition at line 68 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 ( void )

inherited

Clears the current sequence of poses.

Definition at line 30 of file CPoseInterpolatorBase.hpp.

◆ clone()

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

◆ Create()

static CPose3DInterpolatorPtr mrpt::poses::CPose3DInterpolator::Create ( )

static

◆ CreateObject()

static mrpt::utils::CObject* mrpt::poses::CPose3DInterpolator::CreateObject ( )

static

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::poses::CPose3DInterpolator::duplicate ( ) const

virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr CObject::duplicateGetSmartPtr ( ) const

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 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

◆ empty()

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

inlineinherited

Definition at line 101 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 98 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 356 of file CPoseInterpolatorBase.hpp.

References mrpt::math::distance(), mrpt::poses::CPose3DPDFParticles::getMean(), and mrpt::bayes::CParticleFilterData< T >::m_particles.

◆ find() [1/2]

iterator mrpt::poses::CPoseInterpolatorBase< DIM >::find ( const mrpt::system::TTimeStamp & t )

inlineinherited

Definition at line 103 of file CPoseInterpolatorBase.h.

◆ find() [2/2]

const_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::find ( const mrpt::system::TTimeStamp & t ) const

inlineinherited

Definition at line 104 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::exception On empty path

Definition at line 323 of file CPoseInterpolatorBase.hpp.

References ASSERT_, mrpt::utils::keep_max(), mrpt::utils::keep_min(), MRPT_END, MRPT_START, and static_size.

◆ getInterpolationMethod()

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

inherited

Returns the currently set interpolation method.

See also: setInterpolationMethod()

Definition at line 350 of file CPoseInterpolatorBase.hpp.

◆ getMaxTimeInterpolation()

double mrpt::poses::CPoseInterpolatorBase< DIM >::getMaxTimeInterpolation ( )

inherited

Set value of the maximum time to consider interpolation.

Definition at line 219 of file CPoseInterpolatorBase.hpp.

◆ getPreviousPoseWithMinDistance() [1/2]

bool mrpt::poses::CPoseInterpolatorBase< DIM >::getPreviousPoseWithMinDistance	(	const mrpt::system::TTimeStamp &	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 181 of file CPoseInterpolatorBase.hpp.

References mrpt::math::distance(), mrpt::poses::CPoseInterpolatorBase< DIM >::find(), and mrpt::math::norm().

◆ getPreviousPoseWithMinDistance() [2/2]

bool mrpt::poses::CPoseInterpolatorBase< DIM >::getPreviousPoseWithMinDistance	(	const mrpt::system::TTimeStamp &	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 172 of file CPoseInterpolatorBase.hpp.

References mrpt::math::distance().

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DInterpolator::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ impl_interpolation() [1/3]

void mrpt::poses::CPoseInterpolatorBase< 2 >::impl_interpolation	(	const mrpt::math::CArrayDouble< 4 > &	ts,
		const TTimePosePair	p1,
		const TTimePosePair	p2,
		const TTimePosePair	p3,
		const TTimePosePair	p4,
		const TInterpolatorMethod	method,
		double	td,
		pose_t &	out_interp
	)		const

protectedinherited

Definition at line 50 of file CPose2DInterpolator.cpp.

References mrpt::math::angDistance(), mrpt::poses::imLinear2Neig, mrpt::poses::imLinear4Neig, mrpt::poses::imLinearSlerp, mrpt::poses::imSpline, mrpt::poses::imSplineSlerp, mrpt::poses::imSSLLLL, mrpt::poses::imSSLSLL, mrpt::math::interpolate2points(), mrpt::math::spline(), THROW_EXCEPTION, and mrpt::math::unwrap2PiSequence().

◆ impl_interpolation() [2/3]

void mrpt::poses::CPoseInterpolatorBase< 3 >::impl_interpolation	(	const mrpt::math::CArrayDouble< 4 > &	ts,
		const TTimePosePair	p1,
		const TTimePosePair	p2,
		const TTimePosePair	p3,
		const TTimePosePair	p4,
		const TInterpolatorMethod	method,
		double	td,
		pose_t &	out_interp
	)		const

protectedinherited

Definition at line 60 of file CPose3DInterpolator.cpp.

References mrpt::poses::imLinear2Neig, mrpt::poses::imLinear4Neig, mrpt::poses::imLinearSlerp, mrpt::poses::imSpline, mrpt::poses::imSplineSlerp, mrpt::poses::imSSLLLL, mrpt::poses::imSSLSLL, mrpt::math::interpolate2points(), mrpt::obs::gnss::pitch, mrpt::obs::gnss::roll, mrpt::math::slerp_ypr(), mrpt::math::spline(), THROW_EXCEPTION, and mrpt::math::unwrap2PiSequence().

◆ impl_interpolation() [3/3]

void mrpt::poses::CPoseInterpolatorBase< DIM >::impl_interpolation	(	const mrpt::math::CArrayDouble< 4 > &	ts,
		const TTimePosePair	p1,
		const TTimePosePair	p2,
		const TTimePosePair	p3,
		const TTimePosePair	p4,
		const TInterpolatorMethod	method,
		double	td,
		pose_t &	out_interp
	)		const

protectedinherited

◆ insert() [1/2]

void mrpt::poses::CPoseInterpolatorBase< DIM >::insert	(	mrpt::system::TTimeStamp	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 41 of file CPoseInterpolatorBase.hpp.

◆ insert() [2/2]

void mrpt::poses::CPoseInterpolatorBase< DIM >::insert	(	mrpt::system::TTimeStamp	t,
		const cpose_t &	p
	)

inherited

Overload (slower)

Definition at line 36 of file CPoseInterpolatorBase.hpp.

◆ interpolate() [1/2]

CPoseInterpolatorBase< DIM >::pose_t & mrpt::poses::CPoseInterpolatorBase< DIM >::interpolate	(	mrpt::system::TTimeStamp	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

t	The time of the point to interpolate.
out_interp	The output interpolated pose.
out_valid_interp	Whether there was information enough to compute the interpolation.

Returns: A reference to out_interp

Definition at line 59 of file CPoseInterpolatorBase.hpp.

References mrpt::poses::imLinear2Neig, mrpt::poses::imLinearSlerp, mrpt::poses::imSplineSlerp, INVALID_TIMESTAMP, static_size, and mrpt::system::timestampTotime_t().

◆ interpolate() [2/2]

CPoseInterpolatorBase< DIM >::cpose_t & mrpt::poses::CPoseInterpolatorBase< DIM >::interpolate	(	mrpt::system::TTimeStamp	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 50 of file CPoseInterpolatorBase.hpp.

References mrpt::math::interpolate().

◆ 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::exception On invalid file format

Definition at line 289 of file CPoseInterpolatorBase.hpp.

References ASSERT_, mrpt::utils::clear(), MRPT_END, MRPT_START, static_size, and mrpt::system::time_tToTimestamp().

◆ lower_bound() [1/2]

iterator mrpt::poses::CPoseInterpolatorBase< DIM >::lower_bound ( const mrpt::system::TTimeStamp & t )

inlineinherited

Definition at line 92 of file CPoseInterpolatorBase.h.

◆ lower_bound() [2/2]

const_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::lower_bound ( const mrpt::system::TTimeStamp & t ) const

inlineinherited

Definition at line 93 of file CPoseInterpolatorBase.h.

◆ operator delete() [1/3]

void mrpt::poses::CPose3DInterpolator::operator delete	(	void *	ptr	)
throw	(
	)

inline

Definition at line 52 of file CPose3DInterpolator.h.

◆ operator delete() [2/3]

void mrpt::poses::CPose3DInterpolator::operator delete	(	void *	memory,
		void *	ptr
	)
throw	(
	)

inline

Definition at line 52 of file CPose3DInterpolator.h.

◆ operator delete() [3/3]

void mrpt::poses::CPose3DInterpolator::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 52 of file CPose3DInterpolator.h.

◆ operator delete[]()

void mrpt::poses::CPose3DInterpolator::operator delete[]	(	void *	ptr	)
throw	(
	)

inline

Definition at line 52 of file CPose3DInterpolator.h.

◆ operator new() [1/3]

static void* mrpt::poses::CPose3DInterpolator::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 52 of file CPose3DInterpolator.h.

◆ operator new() [2/3]

void* mrpt::poses::CPose3DInterpolator::operator new	(	size_t	size,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 52 of file CPose3DInterpolator.h.

◆ operator new() [3/3]

void* mrpt::poses::CPose3DInterpolator::operator new ( size_t size )

inline

Definition at line 52 of file CPose3DInterpolator.h.

◆ operator new[]()

void* mrpt::poses::CPose3DInterpolator::operator new[] ( size_t size )

inline

Definition at line 52 of file CPose3DInterpolator.h.

◆ rbegin() [1/2]

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

inlineinherited

Definition at line 86 of file CPoseInterpolatorBase.h.

◆ rbegin() [2/2]

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

inlineinherited

Definition at line 87 of file CPoseInterpolatorBase.h.

◆ readFromStream()

void CPose3DInterpolator::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

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 error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 31 of file CPose3DInterpolator.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

◆ rend() [1/2]

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

inlineinherited

Definition at line 89 of file CPoseInterpolatorBase.h.

◆ rend() [2/2]

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

inlineinherited

Definition at line 90 of file CPoseInterpolatorBase.h.

◆ saveInterpolatedToTextFile()

bool mrpt::poses::CPoseInterpolatorBase< DIM >::saveInterpolatedToTextFile	(	const std::string &	s,
		double	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 252 of file CPoseInterpolatorBase.hpp.

References mrpt::format(), mrpt::math::interpolate(), mrpt::utils::CStream::printf(), mrpt::system::secondsToTimestamp(), and mrpt::system::timestampTotime_t().

◆ 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:

Timestamp: As a "double time_t" (see mrpt::system::timestampTotime_t).
x y z: The 3D position in meters.
yaw pitch roll: The angles, in radians
See also
loadFromTextFile

Returns
true on success, false on any error.

Definition at line 225 of file CPoseInterpolatorBase.hpp.

References mrpt::format(), mrpt::utils::CStream::printf(), and mrpt::system::timestampTotime_t().

◆ 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 344 of file CPoseInterpolatorBase.hpp.

◆ setMaxTimeInterpolation()

void mrpt::poses::CPoseInterpolatorBase< DIM >::setMaxTimeInterpolation ( double 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 212 of file CPoseInterpolatorBase.hpp.

References ASSERT_.

◆ size()

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

inlineinherited

Definition at line 100 of file CPoseInterpolatorBase.h.

◆ upper_bound() [1/2]

iterator mrpt::poses::CPoseInterpolatorBase< DIM >::upper_bound ( const mrpt::system::TTimeStamp & t )

inlineinherited

Definition at line 95 of file CPoseInterpolatorBase.h.

◆ upper_bound() [2/2]

const_iterator mrpt::poses::CPoseInterpolatorBase< DIM >::upper_bound ( const mrpt::system::TTimeStamp & t ) const

inlineinherited

Definition at line 96 of file CPoseInterpolatorBase.h.

◆ writeToMatlab()

virtual mxArray* mrpt::utils::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 NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

◆ writeToStream()

void CPose3DInterpolator::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 21 of file CPose3DInterpolator.cpp.

References version.

Member Data Documentation

◆ _init_CPose3DInterpolator

mrpt::utils::CLASSINIT mrpt::poses::CPose3DInterpolator::_init_CPose3DInterpolator

staticprotected

Definition at line 52 of file CPose3DInterpolator.h.

◆ classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 118 of file CObject.h.

◆ classCPose3DInterpolator

mrpt::utils::TRuntimeClassId mrpt::poses::CPose3DInterpolator::classCPose3DInterpolator

static

Definition at line 52 of file CPose3DInterpolator.h.

◆ classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 42 of file CSerializable.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPose3DInterpolator::classinfo

static

Definition at line 52 of file CPose3DInterpolator.h.

◆ m_method

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

protectedinherited

Definition at line 172 of file CPoseInterpolatorBase.h.

◆ m_path

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

protectedinherited

The sequence of poses.

Definition at line 170 of file CPoseInterpolatorBase.h.

◆ maxTimeInterpolation

double 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 171 of file CPoseInterpolatorBase.h.

Detailed Description

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

RTTI stuff

Type definitions and STL-like container interface

Member Typedef Documentation

◆ const_iterator

◆ const_reverse_iterator

◆ ConstPtr

◆ cpose_t

◆ iterator

◆ point_t

◆ pose_t

◆ Ptr

◆ reverse_iterator

◆ TPath

◆ TTimePosePair

Member Function Documentation

◆ _GetBaseClass()

◆ begin() [1/2]

◆ begin() [2/2]

◆ cbegin()

◆ cend()

◆ clear()

◆ clone()

◆ Create()

◆ CreateObject()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ empty()

◆ end() [1/2]

◆ end() [2/2]

◆ erase()

◆ filter()

◆ find() [1/2]

◆ find() [2/2]

◆ getBoundingBox()

◆ getInterpolationMethod()

◆ getMaxTimeInterpolation()

◆ getPreviousPoseWithMinDistance() [1/2]

◆ getPreviousPoseWithMinDistance() [2/2]

◆ GetRuntimeClass()

◆ impl_interpolation() [1/3]

◆ impl_interpolation() [2/3]

◆ impl_interpolation() [3/3]

◆ insert() [1/2]

◆ insert() [2/2]

◆ interpolate() [1/2]

◆ interpolate() [2/2]

◆ loadFromTextFile()

◆ lower_bound() [1/2]

◆ lower_bound() [2/2]

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ rbegin() [1/2]

◆ rbegin() [2/2]

◆ readFromStream()

◆ rend() [1/2]

◆ rend() [2/2]

◆ saveInterpolatedToTextFile()

◆ saveToTextFile()

◆ setInterpolationMethod()

◆ setMaxTimeInterpolation()

◆ size()

◆ upper_bound() [1/2]

◆ upper_bound() [2/2]

◆ writeToMatlab()

◆ writeToStream()

Member Data Documentation

◆ _init_CPose3DInterpolator

◆ classCObject