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mrpt::nav::CLogFileRecord Class Reference

Detailed Description

A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationSystem class.

See Also
CReactiveNavigationSystem, CHolonomicLogFileRecord

Definition at line 33 of file CLogFileRecord.h.

#include <mrpt/nav/reactive/CLogFileRecord.h>

Inheritance diagram for mrpt::nav::CLogFileRecord:
Inheritance graph

Classes

struct  TInfoPerPTG
 The structure used to store all relevant information about each transformation into TP-Space. More...
 

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 CLogFileRecord ()
 Constructor, builds an empty record. 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...
 
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...
 
CObjectclone () const
 Cloning interface for smart pointers. More...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 

Public Attributes

mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState navDynState
 
uint32_t nPTGs
 The number of PTGS: More...
 
mrpt::aligned_containers
< TInfoPerPTG >::vector_t 
infoPerPTG
 The info for each applied PTG: must contain "nPTGs * nSecDistances" elements. More...
 
int32_t nSelectedPTG
 The selected PTG. More...
 
std::map< std::string, double > values
 Known values: More...
 
std::map< std::string,
mrpt::system::TTimeStamp
timestamps
 Known values: More...
 
std::map< std::string,
std::string
additional_debug_msgs
 Additional debug traces. More...
 
mrpt::maps::CSimplePointsMap WS_Obstacles
 
mrpt::maps::CSimplePointsMap WS_Obstacles_original
 The WS-Obstacles. More...
 
mrpt::math::TPose2D robotPoseLocalization
 
mrpt::math::TPose2D robotPoseOdometry
 The robot pose (from odometry and from the localization/SLAM system). More...
 
mrpt::math::TPose2D relPoseSense
 
mrpt::math::TPose2D relPoseVelCmd
 
std::vector< mrpt::math::TPose2DWS_targets_relative
 Relative poses (wrt to robotPoseLocalization) for extrapolated paths at two instants: time of obstacle sense, and future pose of motion comman. More...
 
mrpt::kinematics::CVehicleVelCmdPtr cmd_vel
 The final motion command sent to robot, in "m/sec" and "rad/sec". More...
 
mrpt::kinematics::CVehicleVelCmdPtr cmd_vel_original
 Motion command as comes out from the PTG, before scaling speed limit filtering. More...
 
mrpt::math::TTwist2D cur_vel
 The actual robot velocities in global (map) coordinates, as read from sensors, in "m/sec" and "rad/sec". More...
 
mrpt::math::TTwist2D cur_vel_local
 The actual robot velocities in local (robot) coordinates, as read from sensors, in "m/sec" and "rad/sec". More...
 
mrpt::math::CVectorFloat robotShape_x
 
mrpt::math::CVectorFloat robotShape_y
 The robot shape in WS. Used by PTGs derived from mrpt::nav::CPTG_RobotShape_Polygonal. More...
 
double robotShape_radius
 The circular robot radius. Used by PTGs derived from mrpt::nav::CPTG_RobotShape_Circular. More...
 
int16_t ptg_index_NOP
 Negative means no NOP mode evaluation, so the rest of "NOP variables" should be ignored. More...
 
uint16_t ptg_last_k_NOP
 
mrpt::math::TPose2D rel_cur_pose_wrt_last_vel_cmd_NOP
 
mrpt::math::TPose2D rel_pose_PTG_origin_wrt_sense_NOP
 
mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState ptg_last_navDynState
 

Static Public Attributes

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

Protected Member Functions

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...
 

RTTI stuff

typedef CLogFileRecordPtr Ptr
 
typedef CLogFileRecordPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CLogFileRecord
 
static mrpt::utils::TRuntimeClassId classCLogFileRecord
 
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::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CLogFileRecordPtr Create ()
 

Member Typedef Documentation

typedef CLogFileRecordPtr mrpt::nav::CLogFileRecord::ConstPtr

Definition at line 35 of file CLogFileRecord.h.

typedef CLogFileRecordPtr mrpt::nav::CLogFileRecord::Ptr

A typedef for the associated smart pointer

Definition at line 35 of file CLogFileRecord.h.

Constructor & Destructor Documentation

CLogFileRecord::CLogFileRecord ( )

Constructor, builds an empty record.

Definition at line 26 of file CLogFileRecord.cpp.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::nav::CLogFileRecord::_GetBaseClass ( )
staticprotected
CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

static CLogFileRecordPtr mrpt::nav::CLogFileRecord::Create ( )
static
static mrpt::utils::CObject* mrpt::nav::CLogFileRecord::CreateObject ( )
static
virtual mrpt::utils::CObject* mrpt::nav::CLogFileRecord::duplicate ( ) const
virtual

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

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::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 140 of file CObject.h.

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

virtual const mrpt::utils::TRuntimeClassId* mrpt::nav::CLogFileRecord::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

void mrpt::nav::CLogFileRecord::operator delete ( void ptr)
throw (
)
inline

Definition at line 35 of file CLogFileRecord.h.

void mrpt::nav::CLogFileRecord::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 35 of file CLogFileRecord.h.

void mrpt::nav::CLogFileRecord::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 35 of file CLogFileRecord.h.

void mrpt::nav::CLogFileRecord::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 35 of file CLogFileRecord.h.

void* mrpt::nav::CLogFileRecord::operator new ( size_t  size)
inline

Definition at line 35 of file CLogFileRecord.h.

static void* mrpt::nav::CLogFileRecord::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 35 of file CLogFileRecord.h.

void* mrpt::nav::CLogFileRecord::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 35 of file CLogFileRecord.h.

void* mrpt::nav::CLogFileRecord::operator new[] ( size_t  size)
inline

Definition at line 35 of file CLogFileRecord.h.

void CLogFileRecord::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
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 error, see CStream::ReadBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 137 of file CLogFileRecord.cpp.

References additional_debug_msgs, cmd_vel, cmd_vel_original, cur_vel, cur_vel_local, mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::curVelLocal, mrpt::mrpt::format(), infoPerPTG, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, navDynState, nPTGs, nSelectedPTG, ptg_index_NOP, ptg_last_k_NOP, ptg_last_navDynState, mrpt::utils::CStream::ReadAsAndCastTo(), mrpt::utils::CStream::ReadBufferFixEndianness(), mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::readFromStream(), mrpt::utils::CStream::ReadObject(), rel_cur_pose_wrt_last_vel_cmd_NOP, rel_pose_PTG_origin_wrt_sense_NOP, relPoseSense, relPoseVelCmd, mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::relTarget, robotPoseLocalization, robotPoseOdometry, robotShape_radius, robotShape_x, robotShape_y, timestamps, WS_Obstacles, WS_Obstacles_original, and WS_targets_relative.

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.

void CLogFileRecord::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
outThe output binary stream where object must be dumped.
getVersionIf 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::exceptionOn any error, see CStream::WriteBuffer
See Also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 49 of file CLogFileRecord.cpp.

References additional_debug_msgs, cmd_vel, cmd_vel_original, cur_vel, cur_vel_local, infoPerPTG, navDynState, nPTGs, nSelectedPTG, ptg_index_NOP, ptg_last_k_NOP, ptg_last_navDynState, rel_cur_pose_wrt_last_vel_cmd_NOP, rel_pose_PTG_origin_wrt_sense_NOP, relPoseSense, relPoseVelCmd, robotPoseLocalization, robotPoseOdometry, robotShape_radius, robotShape_x, robotShape_y, timestamps, mrpt::utils::CStream::WriteBuffer(), mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::writeToStream(), WS_Obstacles, WS_Obstacles_original, and WS_targets_relative.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::nav::CLogFileRecord::_init_CLogFileRecord
staticprotected

Definition at line 35 of file CLogFileRecord.h.

std::map<std::string, std::string> mrpt::nav::CLogFileRecord::additional_debug_msgs
mrpt::utils::TRuntimeClassId mrpt::nav::CLogFileRecord::classCLogFileRecord
static

Definition at line 35 of file CLogFileRecord.h.

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

Definition at line 128 of file CObject.h.

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

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::nav::CLogFileRecord::classinfo
static

Definition at line 35 of file CLogFileRecord.h.

mrpt::kinematics::CVehicleVelCmdPtr mrpt::nav::CLogFileRecord::cmd_vel

The final motion command sent to robot, in "m/sec" and "rad/sec".

Definition at line 80 of file CLogFileRecord.h.

Referenced by readFromStream(), mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord(), and writeToStream().

mrpt::kinematics::CVehicleVelCmdPtr mrpt::nav::CLogFileRecord::cmd_vel_original

Motion command as comes out from the PTG, before scaling speed limit filtering.

Definition at line 81 of file CLogFileRecord.h.

Referenced by readFromStream(), and writeToStream().

mrpt::math::TTwist2D mrpt::nav::CLogFileRecord::cur_vel

The actual robot velocities in global (map) coordinates, as read from sensors, in "m/sec" and "rad/sec".

Definition at line 82 of file CLogFileRecord.h.

Referenced by readFromStream(), mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord(), and writeToStream().

mrpt::math::TTwist2D mrpt::nav::CLogFileRecord::cur_vel_local

The actual robot velocities in local (robot) coordinates, as read from sensors, in "m/sec" and "rad/sec".

Definition at line 83 of file CLogFileRecord.h.

Referenced by readFromStream(), mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord(), and writeToStream().

mrpt::aligned_containers<TInfoPerPTG>::vector_t mrpt::nav::CLogFileRecord::infoPerPTG
uint32_t mrpt::nav::CLogFileRecord::nPTGs

The number of PTGS:

Definition at line 59 of file CLogFileRecord.h.

Referenced by readFromStream(), mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord(), and writeToStream().

int32_t mrpt::nav::CLogFileRecord::nSelectedPTG
int16_t mrpt::nav::CLogFileRecord::ptg_index_NOP

Negative means no NOP mode evaluation, so the rest of "NOP variables" should be ignored.

Definition at line 89 of file CLogFileRecord.h.

Referenced by readFromStream(), mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord(), and writeToStream().

uint16_t mrpt::nav::CLogFileRecord::ptg_last_k_NOP
mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState mrpt::nav::CLogFileRecord::ptg_last_navDynState
mrpt::math::TPose2D mrpt::nav::CLogFileRecord::rel_cur_pose_wrt_last_vel_cmd_NOP
mrpt::math::TPose2D mrpt::nav::CLogFileRecord::rel_pose_PTG_origin_wrt_sense_NOP
mrpt::math::TPose2D mrpt::nav::CLogFileRecord::relPoseSense
mrpt::math::TPose2D mrpt::nav::CLogFileRecord::relPoseVelCmd
mrpt::math::TPose2D mrpt::nav::CLogFileRecord::robotPoseLocalization
mrpt::math::TPose2D mrpt::nav::CLogFileRecord::robotPoseOdometry

The robot pose (from odometry and from the localization/SLAM system).

Definition at line 76 of file CLogFileRecord.h.

Referenced by readFromStream(), mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord(), and writeToStream().

double mrpt::nav::CLogFileRecord::robotShape_radius
mrpt::math::CVectorFloat mrpt::nav::CLogFileRecord::robotShape_x
mrpt::math::CVectorFloat mrpt::nav::CLogFileRecord::robotShape_y
std::map<std::string, mrpt::system::TTimeStamp> mrpt::nav::CLogFileRecord::timestamps

Known values:

  • "tim_start_iteration": Time of start of navigationStep() implementation.
  • "tim_send_cmd_vel": Time of sending cmdvel to robot.
  • "curPoseAndVel": Time of querying robot pose and velocities.

Definition at line 73 of file CLogFileRecord.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), readFromStream(), mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord(), and writeToStream().

std::map<std::string, double> mrpt::nav::CLogFileRecord::values

Known values:

  • "executionTime": The total computation time, excluding sensing.
  • "estimatedExecutionPeriod": The estimated execution period.

Definition at line 67 of file CLogFileRecord.h.

Referenced by mrpt::nav::CAbstractPTGBasedReactive::performNavigationStep(), and mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord().

mrpt::maps::CSimplePointsMap mrpt::nav::CLogFileRecord::WS_Obstacles
mrpt::maps::CSimplePointsMap mrpt::nav::CLogFileRecord::WS_Obstacles_original
std::vector<mrpt::math::TPose2D> mrpt::nav::CLogFileRecord::WS_targets_relative

Relative poses (wrt to robotPoseLocalization) for extrapolated paths at two instants: time of obstacle sense, and future pose of motion comman.

The relative location of target(s) in Workspace.

Definition at line 78 of file CLogFileRecord.h.

Referenced by readFromStream(), mrpt::nav::CAbstractPTGBasedReactive::STEP8_GenerateLogRecord(), and writeToStream().




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