00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://www.mrpt.org/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CActionRobotMovement3D_H 00029 #define CActionRobotMovement3D_H 00030 00031 #include <mrpt/slam/CAction.h> 00032 #include <mrpt/poses/CPose3DPDFGaussian.h> 00033 #include <mrpt/poses/CPose3DQuatPDFGaussian.h> 00034 00035 namespace mrpt 00036 { 00037 namespace slam 00038 { 00039 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CActionRobotMovement3D, CAction, OBS_IMPEXP ) 00040 00041 /** Represents a probabilistic 3D (6D) movement. 00042 * Currently this can be determined from visual odometry for full 6D, or from wheel encoders for 2D movements only. 00043 * 00044 * \ingroup mrpt_obs_grp 00045 * \sa CAction 00046 */ 00047 class OBS_IMPEXP CActionRobotMovement3D : public CAction 00048 { 00049 // This must be added to any CSerializable derived class: 00050 DEFINE_SERIALIZABLE( CActionRobotMovement3D ) 00051 00052 public: 00053 /** A list of posible ways for estimating the content of a CActionRobotMovement3D object. 00054 */ 00055 enum TEstimationMethod 00056 { 00057 emOdometry = 0, 00058 emVisualOdometry 00059 }; 00060 00061 /** Constructor 00062 */ 00063 CActionRobotMovement3D(); 00064 00065 /** Destructor 00066 */ 00067 virtual ~CActionRobotMovement3D(); 00068 00069 /** The 3D pose change probabilistic estimation. 00070 */ 00071 poses::CPose3DPDFGaussian poseChange; 00072 poses::CPose3DQuatPDFGaussian poseChangeQuat; 00073 00074 00075 /** This fields indicates the way this estimation was obtained. 00076 */ 00077 TEstimationMethod estimationMethod; 00078 00079 /** Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries. 00080 */ 00081 vector_bool hasVelocities; 00082 00083 /** 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). 00084 */ 00085 vector_float velocities; 00086 00087 }; // End of class def. 00088 00089 00090 } // End of namespace 00091 } // End of namespace 00092 00093 #endif
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