Detailed Description

Declares a class for storing a collection of robot actions.

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

See also:: CAction, CRawlog

#include <mrpt/slam/CActionCollection.h>

Inheritance diagram for mrpt::slam::CActionCollection:

Public Types
typedef std::deque< CActionPtr > ::iterator	iterator
	You can use CActionCollection::begin to get a iterator to the first element.
typedef std::deque< CActionPtr > ::const_iterator	const_iterator
	You can use CActionCollection::begin to get a iterator to the first element.
Public Member Functions
	CActionCollection ()
	Constructor.
	CActionCollection (CAction &a)
	Constructor from a single action.
	CActionCollection (const CActionCollection &o)
	Copy Constructor.
CActionCollection &	operator= (const CActionCollection &o)
	Copy operator.
virtual	~CActionCollection ()
	Destructor.
const_iterator	begin () const
	Returns a iterator to the first action: this is an example of usage:
iterator	begin ()
	Returns a iterator to the first action: this is an example of usage:
const_iterator	end () const
	Returns a iterator pointing to the end of the list: this is an example of usage:
iterator	end ()
	Returns a iterator pointing to the end of the list: this is an example of usage:
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).
void	clear ()
	Erase all actions from the list.
CActionPtr	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.
template<typename T >
T::SmartPtr	getActionByClass (const size_t &ith=0) const
	Access to the i'th action of a given class, or a NULL smart pointer if there is no action of that class in the list.
void	insert (CAction &action)
	Add a new object to the list.
size_t	size ()
	Returns the actions count in the collection.
CActionRobotMovement2DPtr	getBestMovementEstimation () const
	Returns the best pose increment estimator in the collection, based on the determinant of its pose change covariance matrix.
CActionRobotMovement2DPtr	getMovementEstimationByType (CActionRobotMovement2D::TEstimationMethod method)
	Returns the pose increment estimator in the collection having the specified type.
bool	getFirstMovementEstimationMean (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.
bool	getFirstMovementEstimation (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.
void	eraseByIndex (const size_t &index)
	Remove an action from the list by its index.
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).
CObject *	clone () const
	Cloning interface for smart pointers.
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
Protected Member Functions
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream.
virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	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.
Protected Attributes
std::deque< CActionPtr >	m_actions
	The actions:
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable
class	mrpt::utils::CStream
RTTI stuff
typedef CActionCollectionPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CActionCollection
static mrpt::utils::TRuntimeClassId	classCActionCollection
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.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static CActionCollectionPtr	Create ()

Member Typedef Documentation

typedef std::deque<CActionPtr>::const_iterator mrpt::slam::CActionCollection::const_iterator

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

Definition at line 86 of file CActionCollection.h.

typedef std::deque<CActionPtr>::iterator mrpt::slam::CActionCollection::iterator

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

Definition at line 82 of file CActionCollection.h.

typedef CActionCollectionPtr mrpt::slam::CActionCollection::SmartPtr

A typedef for the associated smart pointer

Definition at line 52 of file CActionCollection.h.

Constructor & Destructor Documentation

mrpt::slam::CActionCollection::CActionCollection ( )

Constructor.

mrpt::slam::CActionCollection::CActionCollection ( CAction & a )

Constructor from a single action.

mrpt::slam::CActionCollection::CActionCollection ( const CActionCollection & o )

Copy Constructor.

virtual mrpt::slam::CActionCollection::~CActionCollection ( ) [virtual]

Destructor.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CActionCollection::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::utils::CSerializable.

const_iterator mrpt::slam::CActionCollection::begin ( ) const [inline]

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

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

Definition at line 99 of file CActionCollection.h.

iterator mrpt::slam::CActionCollection::begin ( ) [inline]

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

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

Definition at line 112 of file CActionCollection.h.

void mrpt::slam::CActionCollection::clear ( )

Erase all actions from the list.

CObject* mrpt::utils::CObject::clone ( ) const [inline, inherited]

Cloning interface for smart pointers.

Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 154 of file CObject.h.

static CActionCollectionPtr mrpt::slam::CActionCollection::Create ( ) [static]

static mrpt::utils::CObject* mrpt::slam::CActionCollection::CreateObject ( ) [static]

virtual mrpt::utils::CObject* mrpt::slam::CActionCollection::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 [inline, inherited]

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 151 of file CObject.h.

const_iterator mrpt::slam::CActionCollection::end ( ) const [inline]

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

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

Definition at line 125 of file CActionCollection.h.

iterator mrpt::slam::CActionCollection::end ( ) [inline]

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

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

Definition at line 138 of file CActionCollection.h.

iterator mrpt::slam::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).

void mrpt::slam::CActionCollection::eraseByIndex ( const size_t & index )

Remove an action from the list by its index.

Exceptions:

std::exception On index out of bounds.

CActionPtr mrpt::slam::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::exception On index out of bounds.

template<typename T >

T::SmartPtr mrpt::slam::CActionCollection::getActionByClass ( const size_t & ith = 0 ) const [inline]

Access to the i'th action of a given class, or a NULL smart pointer if there is no action of that class in the list.

Example:

                                        CActionRobotMovement2DPtr obs = acts->getActionByClass<CActionRobotMovement2D>();

By default (ith=0), the first one is returned.

Definition at line 163 of file CActionCollection.h.

References MRPT_START, begin(), end(), and MRPT_END.

Referenced by mrpt::slam::PF_implementation::PF_SLAM_implementation_gatherActionsCheckBothActObs(), and mrpt::slam::PF_implementation::PF_SLAM_implementation_pfStandardProposal().

CActionRobotMovement2DPtr mrpt::slam::CActionCollection::getBestMovementEstimation ( ) const

Returns the best pose increment estimator in the collection, based on the determinant of its pose change covariance matrix.

Returns:: The estimation, or NULL if none is available.

Referenced by mrpt::slam::PF_implementation::PF_SLAM_implementation_gatherActionsCheckBothActObs(), and mrpt::slam::PF_implementation::PF_SLAM_implementation_pfStandardProposal().

bool mrpt::slam::CActionCollection::getFirstMovementEstimation ( 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.

bool mrpt::slam::CActionCollection::getFirstMovementEstimationMean ( 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.

CActionRobotMovement2DPtr mrpt::slam::CActionCollection::getMovementEstimationByType ( CActionRobotMovement2D::TEstimationMethod method )

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

Returns:: The estimation, or NULL if none is available.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CActionCollection::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

void mrpt::slam::CActionCollection::insert ( CAction & action )

Add a new object to the list.

CActionCollection& mrpt::slam::CActionCollection::operator= ( const CActionCollection & o )

Copy operator.

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)		`[protected, pure virtual, inherited]`

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:

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.

Exceptions:

std::exception On any error, see CStream::ReadBuffer

See also:: CStream

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

size_t mrpt::slam::CActionCollection::size ( )

Returns the actions count in the collection.

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const `[protected, pure virtual, inherited]`

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:

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.

Exceptions:

std::exception On any error, see CStream::WriteBuffer