Represents a probabilistic 3D (6D) movement.
Currently this can be determined from visual odometry for full 6D, or from wheel encoders for 2D movements only.
Definition at line 28 of file obs/CActionRobotMovement3D.h.
#include <mrpt/obs/CActionRobotMovement3D.h>
Public Types | |
enum | TEstimationMethod { emOdometry = 0 , emVisualOdometry } |
A list of posible ways for estimating the content of a CActionRobotMovement3D object. More... | |
Public Member Functions | |
void * | operator new (size_t size) |
void * | operator new[] (size_t size) |
void | operator delete (void *ptr) throw () |
void | operator delete[] (void *ptr) throw () |
void | operator delete (void *memory, void *ptr) throw () |
void * | operator new (size_t size, const std::nothrow_t &) throw () |
void | operator delete (void *ptr, const std::nothrow_t &) throw () |
CActionRobotMovement3D () | |
Constructor. More... | |
virtual | ~CActionRobotMovement3D () |
Destructor. More... | |
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... | |
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... | |
CObject * | clone () const |
Cloning interface for smart pointers. More... | |
Static Public Member Functions | |
static void * | operator new (size_t size, void *ptr) |
Public Attributes | |
poses::CPose3DPDFGaussian | poseChange |
The 3D pose change probabilistic estimation. More... | |
poses::CPose3DQuatPDFGaussian | poseChangeQuat |
TEstimationMethod | estimationMethod |
This fields indicates the way this estimation was obtained. More... | |
vector_bool | hasVelocities |
Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries. More... | |
mrpt::math::CVectorFloat | velocities |
The velocity of the robot in each of 6D: v_x,v_y,v_z,v_yaw,v_pitch,v_roll (linear in meters/sec and angular in rad/sec). More... | |
mrpt::system::TTimeStamp | timestamp |
The associated time-stamp. More... | |
Static Public Attributes | |
static const mrpt::utils::TRuntimeClassId | classCObject |
RTTI stuff <br> | |
static const mrpt::utils::TRuntimeClassId | classCAction |
RTTI stuff <br> | |
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 <br> | |
typedef CActionRobotMovement3DPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CActionRobotMovement3D |
static mrpt::utils::TRuntimeClassId | classCActionRobotMovement3D |
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::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. More... | |
static mrpt::utils::CObject * | CreateObject () |
static CActionRobotMovement3DPtr | Create () |
typedef CActionRobotMovement3DPtr mrpt::obs::CActionRobotMovement3D::SmartPtr |
A typedef for the associated smart pointer
Definition at line 31 of file obs/CActionRobotMovement3D.h.
A list of posible ways for estimating the content of a CActionRobotMovement3D object.
Enumerator | |
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emOdometry | |
emVisualOdometry |
Definition at line 36 of file obs/CActionRobotMovement3D.h.
mrpt::obs::CActionRobotMovement3D::CActionRobotMovement3D | ( | ) |
Constructor.
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virtual |
Destructor.
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staticprotected |
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inlineinherited |
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static |
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static |
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virtual |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
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inlineinherited |
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virtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::obs::CAction.
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inline |
Definition at line 31 of file obs/CActionRobotMovement3D.h.
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inline |
Definition at line 31 of file obs/CActionRobotMovement3D.h.
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Definition at line 31 of file obs/CActionRobotMovement3D.h.
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inline |
Definition at line 31 of file obs/CActionRobotMovement3D.h.
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inline |
Definition at line 31 of file obs/CActionRobotMovement3D.h.
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inline |
Definition at line 31 of file obs/CActionRobotMovement3D.h.
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inlinestatic |
Definition at line 31 of file obs/CActionRobotMovement3D.h.
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inline |
Definition at line 31 of file obs/CActionRobotMovement3D.h.
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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.
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 error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
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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 NULL is class does not support conversion to MATLAB. Definition at line 79 of file CSerializable.h.
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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.
out | The output binary stream where object must be dumped. |
getVersion | If 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. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
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staticprotected |
Definition at line 31 of file obs/CActionRobotMovement3D.h.
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staticinherited |
Definition at line 36 of file obs/CAction.h.
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static |
Definition at line 31 of file obs/CActionRobotMovement3D.h.
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staticinherited |
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staticinherited |
Definition at line 42 of file CSerializable.h.
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Definition at line 31 of file obs/CActionRobotMovement3D.h.
TEstimationMethod mrpt::obs::CActionRobotMovement3D::estimationMethod |
This fields indicates the way this estimation was obtained.
Definition at line 58 of file obs/CActionRobotMovement3D.h.
vector_bool mrpt::obs::CActionRobotMovement3D::hasVelocities |
Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries.
Definition at line 62 of file obs/CActionRobotMovement3D.h.
poses::CPose3DPDFGaussian mrpt::obs::CActionRobotMovement3D::poseChange |
The 3D pose change probabilistic estimation.
Definition at line 52 of file obs/CActionRobotMovement3D.h.
Referenced by mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_pfStandardProposal().
poses::CPose3DQuatPDFGaussian mrpt::obs::CActionRobotMovement3D::poseChangeQuat |
Definition at line 53 of file obs/CActionRobotMovement3D.h.
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inherited |
The associated time-stamp.
This was added at 2-Dec-2007, new serialization versions have been added to derived classes to manage this time-stamp. Prior versions will be read as having a INVALID_TIMESTAMP value.
Definition at line 50 of file obs/CAction.h.
mrpt::math::CVectorFloat mrpt::obs::CActionRobotMovement3D::velocities |
The velocity of the robot in each of 6D: v_x,v_y,v_z,v_yaw,v_pitch,v_roll (linear in meters/sec and angular in rad/sec).
Definition at line 66 of file obs/CActionRobotMovement3D.h.
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