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mrpt::poses::CPoses2DSequence Class Reference

Detailed Description

This class stores a sequence of relative, incremental 2D 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
CPose2D, CMultiMetricMap

Definition at line 28 of file CPoses2DSequence.h.

#include <mrpt/poses/CPoses2DSequence.h>

Inheritance diagram for mrpt::poses::CPoses2DSequence:
Inheritance graph

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 ()
 
 CPoses2DSequence ()
 Default constructor. More...
 
size_t posesCount ()
 Returns the poses count in the sequence: More...
 
void getPose (unsigned int ind, CPose2D &outPose)
 Reads the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1"

Exceptions
std::exceptionOn invalid index value.
More...
 
void changePose (unsigned int ind, CPose2D &inPose)
 Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1"

Exceptions
std::exceptionOn invalid index value.
More...
 
void appendPose (CPose2D &newPose)
 Appends a new pose at the end of sequence. More...
 
void clear ()
 Clears the sequence. More...
 
CPose2D 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...
 
CPose2D 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...
 
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)
 

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...
 

Private Attributes

mrpt::aligned_containers
< CPose2D >::vector_t 
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

typedef CPoses2DSequencePtr Ptr
 
typedef CPoses2DSequencePtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CPoses2DSequence
 
static mrpt::utils::TRuntimeClassId classCPoses2DSequence
 
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 CPoses2DSequencePtr Create ()
 

Member Typedef Documentation

typedef CPoses2DSequencePtr mrpt::poses::CPoses2DSequence::ConstPtr

Definition at line 31 of file CPoses2DSequence.h.

typedef CPoses2DSequencePtr mrpt::poses::CPoses2DSequence::Ptr

A typedef for the associated smart pointer

Definition at line 31 of file CPoses2DSequence.h.

Constructor & Destructor Documentation

CPoses2DSequence::CPoses2DSequence ( )

Default constructor.

Definition at line 25 of file CPoses2DSequence.cpp.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoses2DSequence::_GetBaseClass ( )
staticprotected
CPose2D CPoses2DSequence::absolutePoseAfterAll ( )

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

See Also
absolutePoseOf, posesCount

Definition at line 139 of file CPoses2DSequence.cpp.

CPose2D CPoses2DSequence::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 123 of file CPoses2DSequence.cpp.

References THROW_EXCEPTION.

void CPoses2DSequence::appendPose ( CPose2D newPose)

Appends a new pose at the end of sequence.

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

Definition at line 105 of file CPoses2DSequence.cpp.

void CPoses2DSequence::changePose ( unsigned int  ind,
CPose2D 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 95 of file CPoses2DSequence.cpp.

References THROW_EXCEPTION.

void CPoses2DSequence::clear ( )

Clears the sequence.

Definition at line 113 of file CPoses2DSequence.cpp.

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

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

float CPoses2DSequence::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 148 of file CPoses2DSequence.cpp.

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

float CPoses2DSequence::computeTraveledDistanceAfterAll ( )

Returns the traveled distance after ALL movements.

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

See Also
computeTraveledDistanceAfter

Definition at line 164 of file CPoses2DSequence.cpp.

static CPoses2DSequencePtr mrpt::poses::CPoses2DSequence::Create ( )
static
static mrpt::utils::CObject* mrpt::poses::CPoses2DSequence::CreateObject ( )
static
virtual mrpt::utils::CObject* mrpt::poses::CPoses2DSequence::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().

void CPoses2DSequence::getPose ( unsigned int  ind,
CPose2D 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 85 of file CPoses2DSequence.cpp.

References THROW_EXCEPTION.

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoses2DSequence::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

void mrpt::poses::CPoses2DSequence::operator delete ( void ptr)
throw (
)
inline

Definition at line 31 of file CPoses2DSequence.h.

void mrpt::poses::CPoses2DSequence::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 31 of file CPoses2DSequence.h.

void mrpt::poses::CPoses2DSequence::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 31 of file CPoses2DSequence.h.

void mrpt::poses::CPoses2DSequence::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 31 of file CPoses2DSequence.h.

void* mrpt::poses::CPoses2DSequence::operator new ( size_t  size)
inline

Definition at line 31 of file CPoses2DSequence.h.

void* mrpt::poses::CPoses2DSequence::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 31 of file CPoses2DSequence.h.

static void* mrpt::poses::CPoses2DSequence::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 31 of file CPoses2DSequence.h.

void* mrpt::poses::CPoses2DSequence::operator new[] ( size_t  size)
inline

Definition at line 31 of file CPoses2DSequence.h.

size_t CPoses2DSequence::posesCount ( )

Returns the poses count in the sequence:

Definition at line 33 of file CPoses2DSequence.cpp.

void CPoses2DSequence::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 62 of file CPoses2DSequence.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

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 CPoses2DSequence::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 43 of file CPoses2DSequence.cpp.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::poses::CPoses2DSequence::_init_CPoses2DSequence
staticprotected

Definition at line 31 of file CPoses2DSequence.h.

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

Definition at line 128 of file CObject.h.

mrpt::utils::TRuntimeClassId mrpt::poses::CPoses2DSequence::classCPoses2DSequence
static

Definition at line 31 of file CPoses2DSequence.h.

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

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoses2DSequence::classinfo
static

Definition at line 31 of file CPoses2DSequence.h.

mrpt::aligned_containers<CPose2D>::vector_t mrpt::poses::CPoses2DSequence::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 CPoses2DSequence.h.




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