This class stores a sequence of relative, incremental 2D poses.
CPose2D absolutePoseOf(unsigned int n)
Returns the absolute pose of a robot after moving "n" poses, so for "n=0" the origin pose (0...
void getPose(unsigned int ind, CPose2D &outPose)
Reads the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1"...
std::vector< T, mrpt::aligned_allocator_cpp11< T > > aligned_std_vector
Returns the poses count in the sequence:
Returns the traveled distance after ALL movements.
Clears the sequence.
void changePose(unsigned int ind, CPose2D &inPose)
Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1"...
mrpt::aligned_std_vector< CPose2D > poses
The internal sequence of poses, stored as relative, incremental poses, thus each one is situated just...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle...
The virtual base class which provides a unified interface for all persistent objects in MRPT...
void appendPose(CPose2D &newPose)
Appends a new pose at the end of sequence.
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 ...
A shortcut for "absolutePoseOf( posesCount() )".