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::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".
Definition at line 50 of file CPose2DInterpolator.h.
#include <mrpt/poses/CPose2DInterpolator.h>
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 |
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... | |
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. 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... | |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
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 | |
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... | |
Protected Attributes | |
TPath | m_path |
The sequence of poses. More... | |
double | maxTimeInterpolation |
Maximum time considered to interpolate. More... | |
TInterpolatorMethod | m_method |
RTTI stuff | |
using | Ptr = std::shared_ptr< CPose2DInterpolator > |
using | ConstPtr = std::shared_ptr< const CPose2DInterpolator > |
using | UniquePtr = std::unique_ptr< CPose2DInterpolator > |
using | ConstUniquePtr = std::unique_ptr< const CPose2DInterpolator > |
static mrpt::rtti::CLASSINIT | _init_CPose2DInterpolator |
static const mrpt::rtti::TRuntimeClassId | runtimeClassId |
static constexpr const char * | className = "CPose2DInterpolator" |
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... | |
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inherited |
Definition at line 71 of file CPoseInterpolatorBase.h.
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Definition at line 73 of file CPoseInterpolatorBase.h.
using mrpt::poses::CPose2DInterpolator::ConstPtr = std::shared_ptr<const CPose2DInterpolator > |
Definition at line 54 of file CPose2DInterpolator.h.
using mrpt::poses::CPose2DInterpolator::ConstUniquePtr = std::unique_ptr<const CPose2DInterpolator > |
Definition at line 54 of file CPose2DInterpolator.h.
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Definition at line 64 of file CPoseInterpolatorBase.h.
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inherited |
Definition at line 70 of file CPoseInterpolatorBase.h.
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TPoint2D or TPoint3D.
Definition at line 66 of file CPoseInterpolatorBase.h.
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TPose2D or TPose3D.
Definition at line 62 of file CPoseInterpolatorBase.h.
using mrpt::poses::CPose2DInterpolator::Ptr = std::shared_ptr< CPose2DInterpolator > |
A type for the associated smart pointer
Definition at line 54 of file CPose2DInterpolator.h.
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Definition at line 72 of file CPoseInterpolatorBase.h.
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Definition at line 69 of file CPoseInterpolatorBase.h.
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Definition at line 68 of file CPoseInterpolatorBase.h.
using mrpt::poses::CPose2DInterpolator::UniquePtr = std::unique_ptr< CPose2DInterpolator > |
Definition at line 54 of file CPose2DInterpolator.h.
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inlineinherited |
Definition at line 75 of file CPoseInterpolatorBase.h.
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inlineinherited |
Definition at line 76 of file CPoseInterpolatorBase.h.
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inlineinherited |
Definition at line 77 of file CPoseInterpolatorBase.h.
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inlineinherited |
Definition at line 80 of file CPoseInterpolatorBase.h.
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inherited |
Clears the current sequence of poses.
Definition at line 30 of file CPoseInterpolatorBase.hpp.
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overridevirtual |
Returns a deep copy (clone) of the object, indepently of its class.
Implements mrpt::rtti::CObject.
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inlinestatic |
Definition at line 54 of file CPose2DInterpolator.h.
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inlinestatic |
Definition at line 54 of file CPose2DInterpolator.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 169 of file CObject.h.
References mrpt::rtti::CObject::clone().
Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().
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inlineinherited |
Definition at line 110 of file CPoseInterpolatorBase.h.
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inlineinherited |
Definition at line 78 of file CPoseInterpolatorBase.h.
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inlineinherited |
Definition at line 79 of file CPoseInterpolatorBase.h.
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Definition at line 103 of file CPoseInterpolatorBase.h.
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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.
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 360 of file CPoseInterpolatorBase.hpp.
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inlineinherited |
Definition at line 111 of file CPoseInterpolatorBase.h.
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inlineinherited |
Definition at line 112 of file CPoseInterpolatorBase.h.
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inherited |
Computes the bounding box in all Euclidean coordinates of the whole path.
std::exception | On empty path |
Definition at line 327 of file CPoseInterpolatorBase.hpp.
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inlinestaticconstexpr |
Definition at line 54 of file CPose2DInterpolator.h.
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Returns the currently set interpolation method.
Definition at line 354 of file CPoseInterpolatorBase.hpp.
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inherited |
Set value of the maximum time to consider interpolation.
Definition at line 219 of file CPoseInterpolatorBase.hpp.
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Definition at line 172 of file CPoseInterpolatorBase.hpp.
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Get the previous CPose3D in the map with a minimum defined distance.
Definition at line 181 of file CPoseInterpolatorBase.hpp.
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overridevirtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::serialization::CSerializable.
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Definition at line 46 of file CPose2DInterpolator.cpp.
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protectedinherited |
Definition at line 57 of file CPose3DInterpolator.cpp.
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protectedinherited |
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inherited |
Overload (slower)
Definition at line 36 of file CPoseInterpolatorBase.hpp.
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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.
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inherited |
Definition at line 50 of file CPoseInterpolatorBase.hpp.
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Returns the pose at a given time, or interpolates using splines if there is not an exact match.
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. |
Definition at line 59 of file CPoseInterpolatorBase.hpp.
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Loads from a text file, in the format described by saveToTextFile.
std::exception | On invalid file format |
Definition at line 293 of file CPoseInterpolatorBase.hpp.
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inlineinherited |
Definition at line 85 of file CPoseInterpolatorBase.h.
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inlineinherited |
Definition at line 89 of file CPoseInterpolatorBase.h.
Definition at line 54 of file CPose2DInterpolator.h.
Definition at line 54 of file CPose2DInterpolator.h.
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inlinenoexcept |
Definition at line 54 of file CPose2DInterpolator.h.
Definition at line 54 of file CPose2DInterpolator.h.
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inline |
Definition at line 54 of file CPose2DInterpolator.h.
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inlinenoexcept |
Definition at line 54 of file CPose2DInterpolator.h.
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inlinestatic |
Definition at line 54 of file CPose2DInterpolator.h.
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inline |
Definition at line 54 of file CPose2DInterpolator.h.
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inlineinherited |
Definition at line 81 of file CPoseInterpolatorBase.h.
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inlineinherited |
Definition at line 82 of file CPoseInterpolatorBase.h.
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inlineinherited |
Definition at line 83 of file CPoseInterpolatorBase.h.
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inlineinherited |
Definition at line 84 of file CPoseInterpolatorBase.h.
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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.
Definition at line 254 of file CPoseInterpolatorBase.hpp.
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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 225 of file CPoseInterpolatorBase.hpp.
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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;
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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 25 of file CPose2DInterpolator.cpp.
References mrpt::poses::CPoseInterpolatorBase< 2 >::m_path, 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 20 of file CPose2DInterpolator.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;
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std::exception | On any I/O error |
Implements mrpt::serialization::CSerializable.
Definition at line 21 of file CPose2DInterpolator.cpp.
References mrpt::poses::CPoseInterpolatorBase< 2 >::m_path.
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inherited |
Change the method used to interpolate the robot path.
The default method at construction is "imSpline".
Definition at line 348 of file CPoseInterpolatorBase.hpp.
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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.
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inlineinherited |
Definition at line 109 of file CPoseInterpolatorBase.h.
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inlineinherited |
Definition at line 94 of file CPoseInterpolatorBase.h.
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inlineinherited |
Definition at line 98 of file CPoseInterpolatorBase.h.
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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 70 of file CSerializable.h.
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staticprotected |
Definition at line 54 of file CPose2DInterpolator.h.
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staticconstexpr |
Definition at line 54 of file CPose2DInterpolator.h.
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protectedinherited |
Definition at line 208 of file CPoseInterpolatorBase.h.
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protectedinherited |
The sequence of poses.
Definition at line 203 of file CPoseInterpolatorBase.h.
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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 207 of file CPoseInterpolatorBase.h.
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staticprotected |
Definition at line 54 of file CPose2DInterpolator.h.
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