Detailed Description

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.

See also:: CAction

#include <mrpt/slam/CActionRobotMovement3D.h>

Inheritance diagram for mrpt::slam::CActionRobotMovement3D:

Public Types
enum	TEstimationMethod { emOdometry = 0, emVisualOdometry }
	A list of posible ways for estimating the content of a CActionRobotMovement3D object. More...
Public Member Functions
	CActionRobotMovement3D ()
	Constructor.
virtual	~CActionRobotMovement3D ()
	Destructor.
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.
Public Attributes
poses::CPose3DPDFGaussian	poseChange
	The 3D pose change probabilistic estimation.
poses::CPose3DQuatPDFGaussian	poseChangeQuat
TEstimationMethod	estimationMethod
	This fields indicates the way this estimation was obtained.
vector_bool	hasVelocities
	Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries.
vector_float	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).
mrpt::system::TTimeStamp	timestamp
	The associated time-stamp.
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable
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.
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCAction
class	mrpt::utils::CStream
RTTI stuff
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.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static CActionRobotMovement3DPtr	Create ()

Member Typedef Documentation

typedef CActionRobotMovement3DPtr mrpt::slam::CActionRobotMovement3D::SmartPtr

A typedef for the associated smart pointer

Definition at line 50 of file CActionRobotMovement3D.h.

Member Enumeration Documentation

enum mrpt::slam::CActionRobotMovement3D::TEstimationMethod

A list of posible ways for estimating the content of a CActionRobotMovement3D object.

Enumerator:

emOdometry
emVisualOdometry

Definition at line 55 of file CActionRobotMovement3D.h.

Constructor & Destructor Documentation

mrpt::slam::CActionRobotMovement3D::CActionRobotMovement3D ( )

Constructor.

virtual mrpt::slam::CActionRobotMovement3D::~CActionRobotMovement3D ( ) [virtual]

Destructor.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CActionRobotMovement3D::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::slam::CAction.

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 CActionRobotMovement3DPtr mrpt::slam::CActionRobotMovement3D::Create ( ) [static]

static mrpt::utils::CObject* mrpt::slam::CActionRobotMovement3D::CreateObject ( ) [static]

virtual mrpt::utils::CObject* mrpt::slam::CActionRobotMovement3D::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.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CActionRobotMovement3D::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CAction.

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.

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

See also:: CStream

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

Friends And Related Function Documentation

friend class mrpt::utils::CStream [friend, inherited]

Reimplemented from mrpt::utils::CSerializable.

Definition at line 55 of file CAction.h.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::slam::CActionRobotMovement3D::_init_CActionRobotMovement3D [static, protected]

Definition at line 50 of file CActionRobotMovement3D.h.

const mrpt::utils::TRuntimeClassId mrpt::slam::CAction::classCAction [static, inherited]

Definition at line 55 of file CAction.h.

mrpt::utils::TRuntimeClassId mrpt::slam::CActionRobotMovement3D::classCActionRobotMovement3D [static]

Definition at line 50 of file CActionRobotMovement3D.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject [static, inherited]

Definition at line 139 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable [static, inherited]

Definition at line 56 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::slam::CActionRobotMovement3D::classinfo [static]

Definition at line 50 of file CActionRobotMovement3D.h.

TEstimationMethod mrpt::slam::CActionRobotMovement3D::estimationMethod

This fields indicates the way this estimation was obtained.

Definition at line 77 of file CActionRobotMovement3D.h.

vector_bool mrpt::slam::CActionRobotMovement3D::hasVelocities

Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries.

Definition at line 81 of file CActionRobotMovement3D.h.

poses::CPose3DPDFGaussian mrpt::slam::CActionRobotMovement3D::poseChange

The 3D pose change probabilistic estimation.

Definition at line 71 of file CActionRobotMovement3D.h.

poses::CPose3DQuatPDFGaussian mrpt::slam::CActionRobotMovement3D::poseChangeQuat

Definition at line 72 of file CActionRobotMovement3D.h.

mrpt::system::TTimeStamp mrpt::slam::CAction::timestamp [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 69 of file CAction.h.

vector_float mrpt::slam::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 85 of file CActionRobotMovement3D.h.

Detailed Description

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

RTTI stuff

RTTI stuff

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation