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 00029 #ifndef CObservationOdometry_H 00030 #define CObservationOdometry_H 00031 00032 #include <mrpt/utils/CSerializable.h> 00033 #include <mrpt/slam/CObservation.h> 00034 #include <mrpt/poses/CPose2D.h> 00035 #include <mrpt/poses/CPose3D.h> 00036 00037 namespace mrpt 00038 { 00039 namespace slam 00040 { 00041 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationOdometry, CObservation,OBS_IMPEXP ) 00042 00043 /** An observation of the current (cumulative) odometry for a wheeled robot. 00044 * This kind of observation will only occur in a "observation-only" rawlog file, otherwise 00045 * odometry are modeled with actions. Refer to the <a href="http://www.mrpt.org/Rawlog_Format">page on rawlogs</a>. 00046 * 00047 * \sa CObservation, CActionRobotMovement2D 00048 * \ingroup mrpt_obs_grp 00049 */ 00050 class OBS_IMPEXP CObservationOdometry : public CObservation 00051 { 00052 // This must be added to any CSerializable derived class: 00053 DEFINE_SERIALIZABLE( CObservationOdometry ) 00054 00055 public: 00056 /** Constructor 00057 */ 00058 CObservationOdometry( ); 00059 00060 poses::CPose2D odometry; //!< The absolute odometry measurement (IT IS NOT INCREMENTAL) 00061 00062 bool hasEncodersInfo; //!< "true" means that "encoderLeftTicks" and "encoderRightTicks" contain valid values. 00063 00064 /** For odometry only: the ticks count for each wheel in ABSOLUTE VALUE (IT IS NOT INCREMENTAL) (positive means FORWARD, for both wheels); 00065 * \sa hasEncodersInfo 00066 */ 00067 int32_t encoderLeftTicks,encoderRightTicks; 00068 00069 bool hasVelocities; //!< "true" means that "velocityLin" and "velocityAng" contain valid values. 00070 00071 /** The velocity of the robot, linear in meters/sec and angular in rad/sec. 00072 */ 00073 float velocityLin, velocityAng; 00074 00075 00076 /** A general method to retrieve the sensor pose on the robot. 00077 * It has no effects in this class 00078 * \sa setSensorPose 00079 */ 00080 void getSensorPose( CPose3D &out_sensorPose ) const { out_sensorPose=CPose3D(0,0,0); } 00081 00082 /** A general method to change the sensor pose on the robot. 00083 * It has no effects in this class 00084 * \sa getSensorPose 00085 */ 00086 void setSensorPose( const CPose3D & ) { } 00087 00088 }; // End of class def. 00089 00090 } // End of namespace 00091 } // End of namespace 00092 00093 #endif
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