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mrpt::obs::CActionCollection Class Reference

Detailed Description

Declares a class for storing a collection of robot actions.

It is used in mrpt::obs::CRawlog, for logs storage and particle filter based simulations.

See also
CAction, CRawlog

Definition at line 28 of file CActionCollection.h.

#include <mrpt/obs/CActionCollection.h>

Inheritance diagram for mrpt::obs::CActionCollection:
Inheritance graph

Public Types

using iterator = std::deque< mrpt::containers::deepcopy_poly_ptr< CAction::Ptr > >::iterator
 You can use CActionCollection::begin to get a iterator to the first element. More...
 
using const_iterator = std::deque< mrpt::containers::deepcopy_poly_ptr< CAction::Ptr > >::const_iterator
 You can use CActionCollection::begin to get a iterator to the first element. More...
 

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) noexcept
 
void operator delete[] (void *ptr) noexcept
 
void operator delete (void *memory, void *ptr) noexcept
 
voidoperator new (size_t size, const std::nothrow_t &) noexcept
 
void operator delete (void *ptr, const std::nothrow_t &) noexcept
 
 CActionCollection ()=default
 ctor More...
 
 CActionCollection (CAction &a)
 Constructor from a single action. More...
 
const_iterator begin () const
 Returns a iterator to the first action: this is an example of usage: More...
 
iterator begin ()
 Returns a iterator to the first action: this is an example of usage: More...
 
const_iterator end () const
 Returns a iterator pointing to the end of the list: this is an example of usage: More...
 
iterator end ()
 Returns a iterator pointing to the end of the list: this is an example of usage: More...
 
iterator erase (const iterator &it)
 Removes the given action in the list, and return an iterator to the next element (or this->end() if it was the last one). More...
 
void clear ()
 Erase all actions from the list. More...
 
CAction::Ptr get (size_t index)
 Access the i'th action.DO NOT MODIFY the returned object, make a copy of ir with "CSerializable::duplicate" if desired. More...
 
const CActionget (size_t index) const
 
template<typename T >
T::Ptr getActionByClass (const size_t &ith=0) const
 Access to the i'th action of a given class, or a nullptr smart pointer if there is no action of that class in the list. More...
 
void insert (CAction &action)
 Add a new object to the list. More...
 
size_t size ()
 Returns the actions count in the collection. More...
 
CActionRobotMovement2D::Ptr getBestMovementEstimation () const
 Returns the best pose increment estimator in the collection, based on the determinant of its pose change covariance matrix. More...
 
CActionRobotMovement2D::Ptr getMovementEstimationByType (CActionRobotMovement2D::TEstimationMethod method)
 Returns the pose increment estimator in the collection having the specified type. More...
 
bool getFirstMovementEstimationMean (mrpt::poses::CPose3D &out_pose_increment) const
 Look for the first 2D or 3D "odometry" found in this collection of actions, and return the "mean" increment of the robot according to it. More...
 
bool getFirstMovementEstimation (mrpt::poses::CPose3DPDFGaussian &out_pose_increment) const
 Look for the first 2D or 3D "odometry" found in this collection of actions, and return the "mean" increment of the robot and its covariance according to it. More...
 
void eraseByIndex (const size_t &index)
 Remove an action from the list by its index. 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...
 
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr 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 voidoperator new (size_t size, void *ptr)
 

Protected Member Functions

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

std::deque< mrpt::containers::deepcopy_poly_ptr< CAction::Ptr > > m_actions
 The robot "actionss". More...
 

RTTI stuff

using Ptr = std::shared_ptr< CActionCollection >
 
using ConstPtr = std::shared_ptr< const CActionCollection >
 
using UniquePtr = std::unique_ptr< CActionCollection >
 
using ConstUniquePtr = std::unique_ptr< const CActionCollection >
 
static mrpt::rtti::CLASSINIT _init_CActionCollection
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "CActionCollection"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static mrpt::rtti::CObjectCreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

Member Typedef Documentation

◆ const_iterator

You can use CActionCollection::begin to get a iterator to the first element.

Definition at line 52 of file CActionCollection.h.

◆ ConstPtr

Definition at line 30 of file CActionCollection.h.

◆ ConstUniquePtr

Definition at line 30 of file CActionCollection.h.

◆ iterator

You can use CActionCollection::begin to get a iterator to the first element.

Definition at line 46 of file CActionCollection.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 30 of file CActionCollection.h.

◆ UniquePtr

Definition at line 30 of file CActionCollection.h.

Constructor & Destructor Documentation

◆ CActionCollection() [1/2]

mrpt::obs::CActionCollection::CActionCollection ( )
default

ctor

◆ CActionCollection() [2/2]

CActionCollection::CActionCollection ( CAction a)

Constructor from a single action.

Definition at line 25 of file CActionCollection.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::obs::CActionCollection::_GetBaseClass ( )
staticprotected

◆ begin() [1/2]

const_iterator mrpt::obs::CActionCollection::begin ( ) const
inline

Returns a iterator to the first action: this is an example of usage:

...
for (CActionCollection::iterator it=acts.begin();it!=acts.end();++it)
{
(*it)->... // (*it) is a "CAction::Ptr"
}

Definition at line 65 of file CActionCollection.h.

References m_actions.

Referenced by getActionByClass().

◆ begin() [2/2]

iterator mrpt::obs::CActionCollection::begin ( )
inline

Returns a iterator to the first action: this is an example of usage:

...
for (CActionCollection::iterator it=acts.begin();it!=acts.end();++it)
{
(*it)->... // (*it) is a "CAction::Ptr"
}

Definition at line 77 of file CActionCollection.h.

References m_actions.

◆ clear()

void CActionCollection::clear ( )

Erase all actions from the list.

Definition at line 60 of file CActionCollection.cpp.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::obs::CActionCollection::clone ( ) const
overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>
static Ptr mrpt::obs::CActionCollection::Create ( Args &&...  args)
inlinestatic

Definition at line 30 of file CActionCollection.h.

◆ CreateObject()

static mrpt::rtti::CObject* mrpt::obs::CActionCollection::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::obs::CActionCollection::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 30 of file CActionCollection.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr 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 169 of file CObject.h.

References mrpt::rtti::CObject::clone().

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

◆ end() [1/2]

const_iterator mrpt::obs::CActionCollection::end ( ) const
inline

Returns a iterator pointing to the end of the list: this is an example of usage:

...
for (CActionCollection::iterator it=acts.begin();it!=acts.end();++it)
{
(*it)->... // (*it) is a "CAction::Ptr"
}

Definition at line 90 of file CActionCollection.h.

References m_actions.

Referenced by getActionByClass().

◆ end() [2/2]

iterator mrpt::obs::CActionCollection::end ( )
inline

Returns a iterator pointing to the end of the list: this is an example of usage:

...
for (CActionCollection::iterator it=acts.begin();it!=acts.end();++it)
{
(*it)->... // (*it) is a "CAction::Ptr"
}

Definition at line 103 of file CActionCollection.h.

References m_actions.

◆ erase()

CActionCollection::iterator CActionCollection::erase ( const iterator it)

Removes the given action in the list, and return an iterator to the next element (or this->end() if it was the last one).

Definition at line 171 of file CActionCollection.cpp.

References ASSERT_, MRPT_END, and MRPT_START.

◆ eraseByIndex()

void CActionCollection::eraseByIndex ( const size_t &  index)

Remove an action from the list by its index.

Exceptions
std::exceptionOn index out of bounds.

Definition at line 131 of file CActionCollection.cpp.

References THROW_EXCEPTION.

◆ get() [1/2]

CAction::Ptr CActionCollection::get ( size_t  index)

Access the i'th action.DO NOT MODIFY the returned object, make a copy of ir with "CSerializable::duplicate" if desired.

First element is 0.

Exceptions
std::exceptionOn index out of bounds.

Definition at line 64 of file CActionCollection.cpp.

References THROW_EXCEPTION.

◆ get() [2/2]

const CAction & CActionCollection::get ( size_t  index) const

Definition at line 71 of file CActionCollection.cpp.

References THROW_EXCEPTION.

◆ getActionByClass()

template<typename T >
T::Ptr mrpt::obs::CActionCollection::getActionByClass ( const size_t &  ith = 0) const
inline

◆ getBestMovementEstimation()

CActionRobotMovement2D::Ptr CActionCollection::getBestMovementEstimation ( ) const

◆ getClassName()

static constexpr auto mrpt::obs::CActionCollection::getClassName ( )
inlinestatic

Definition at line 30 of file CActionCollection.h.

◆ getFirstMovementEstimation()

bool CActionCollection::getFirstMovementEstimation ( mrpt::poses::CPose3DPDFGaussian out_pose_increment) const

Look for the first 2D or 3D "odometry" found in this collection of actions, and return the "mean" increment of the robot and its covariance according to it.

Returns
true on success,false on no odometry found.

Definition at line 206 of file CActionCollection.cpp.

References mrpt::poses::CPose3DPDFGaussian::copyFrom().

◆ getFirstMovementEstimationMean()

bool CActionCollection::getFirstMovementEstimationMean ( mrpt::poses::CPose3D out_pose_increment) const

Look for the first 2D or 3D "odometry" found in this collection of actions, and return the "mean" increment of the robot according to it.

Returns
true on success,false on no odometry found.

Definition at line 183 of file CActionCollection.cpp.

◆ getMovementEstimationByType()

CActionRobotMovement2D::Ptr CActionCollection::getMovementEstimationByType ( CActionRobotMovement2D::TEstimationMethod  method)

Returns the pose increment estimator in the collection having the specified type.

Returns
The estimation, or nullptr if none is available.

Definition at line 142 of file CActionCollection.cpp.

References begin(), and CLASS_ID.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::obs::CActionCollection::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::obs::CActionCollection::GetRuntimeClassIdStatic ( )
static

◆ insert()

void CActionCollection::insert ( CAction action)

Add a new object to the list.

Definition at line 85 of file CActionCollection.cpp.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

◆ operator delete() [1/3]

void mrpt::obs::CActionCollection::operator delete ( void memory,
void ptr 
)
inlinenoexcept

Definition at line 30 of file CActionCollection.h.

◆ operator delete() [2/3]

void mrpt::obs::CActionCollection::operator delete ( void ptr,
const std::nothrow_t &   
)
inlinenoexcept

Definition at line 30 of file CActionCollection.h.

◆ operator delete() [3/3]

void mrpt::obs::CActionCollection::operator delete ( void ptr)
inlinenoexcept

Definition at line 30 of file CActionCollection.h.

◆ operator delete[]()

void mrpt::obs::CActionCollection::operator delete[] ( void ptr)
inlinenoexcept

Definition at line 30 of file CActionCollection.h.

◆ operator new() [1/3]

void* mrpt::obs::CActionCollection::operator new ( size_t  size,
const std::nothrow_t &   
)
inlinenoexcept

Definition at line 30 of file CActionCollection.h.

◆ operator new() [2/3]

void* mrpt::obs::CActionCollection::operator new ( size_t  size)
inline

Definition at line 30 of file CActionCollection.h.

◆ operator new() [3/3]

static void* mrpt::obs::CActionCollection::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 30 of file CActionCollection.h.

◆ operator new[]()

void* mrpt::obs::CActionCollection::operator new[] ( size_t  size)
inline

Definition at line 30 of file CActionCollection.h.

◆ serializeFrom()

void CActionCollection::serializeFrom ( mrpt::serialization::CArchive in,
uint8_t  serial_version 
)
overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

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 I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 37 of file CActionCollection.cpp.

References begin(), mrpt::containers::clear(), and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeGetVersion()

uint8_t CActionCollection::serializeGetVersion ( ) const
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 30 of file CActionCollection.cpp.

◆ serializeTo()

void CActionCollection::serializeTo ( mrpt::serialization::CArchive out) const
overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 31 of file CActionCollection.cpp.

References mrpt::serialization::CArchive::WriteAs().

◆ size()

size_t CActionCollection::size ( )

Returns the actions count in the collection.

Definition at line 81 of file CActionCollection.cpp.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 nullptr is class does not support conversion to MATLAB.

Definition at line 70 of file CSerializable.h.

Member Data Documentation

◆ _init_CActionCollection

mrpt::rtti::CLASSINIT mrpt::obs::CActionCollection::_init_CActionCollection
staticprotected

Definition at line 30 of file CActionCollection.h.

◆ className

constexpr const char* mrpt::obs::CActionCollection::className = "CActionCollection"
static

Definition at line 30 of file CActionCollection.h.

◆ m_actions

std::deque<mrpt::containers::deepcopy_poly_ptr<CAction::Ptr> > mrpt::obs::CActionCollection::m_actions
protected

The robot "actionss".

Definition at line 34 of file CActionCollection.h.

Referenced by begin(), and end().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::obs::CActionCollection::runtimeClassId
staticprotected

Definition at line 30 of file CActionCollection.h.




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