Detailed Description

This class stores a sequence of relative, incremental 2D poses.

It is useful as the bases storing unit for more complex probability particles and for computing the absolute pose of any intermediate pose.

See also:: CPose2D, CMultiMetricMap

#include <mrpt/poses/CPoses2DSequence.h>

Inheritance diagram for mrpt::poses::CPoses2DSequence:

[legend]

List of all members.

Public Member Functions

CPoses2DSequence ()

Default constructor.

size_t posesCount ()

Returns the poses count in the sequence:

void getPose (unsigned int ind, CPose2D &outPose)

Reads the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1"

Exceptions:

std::exception On invalid index value.

void changePose (unsigned int ind, CPose2D &inPose)

Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1"

Exceptions:

std::exception On invalid index value.

void appendPose (CPose2D &newPose)

Appends a new pose at the end of sequence.

void clear ()

Clears the sequence.

CPose2D absolutePoseOf (unsigned int n)

Returns the absolute pose of a robot after moving "n" poses, so for "n=0" the origin pose (0,0,0deg) is returned, for "n=1" the first pose is returned, and for "n=posesCount()", the pose of robot after moving ALL poses is returned, all of them relative to the starting pose.

CPose2D absolutePoseAfterAll ()

A shortcut for "absolutePoseOf( posesCount() )".

float computeTraveledDistanceAfter (unsigned int n)

Returns the traveled distance after moving "n" poses, so for "n=0" it returns 0, for "n=1" the first traveled distance, and for "n=posesCount()", the total distance after ALL movements.

float computeTraveledDistanceAfterAll ()

Returns the traveled distance after ALL movements.

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.

Private Attributes

mrpt::aligned_containers
< CPose2D >::vector_t poses

The internal sequence of poses, stored as relative, incremental poses, thus each one is situated just at the end point of last one, where the first one is referenced to (0,0,0deg)

RTTI stuff

typedef CPoses2DSequencePtr SmartPtr

static mrpt::utils::CLASSINIT _init_CPoses2DSequence

static mrpt::utils::TRuntimeClassId classCPoses2DSequence

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 CPoses2DSequencePtr Create ()

RTTI stuff

static const
mrpt::utils::TRuntimeClassId classCSerializable

class mrpt::utils::CStream

Member Typedef Documentation

typedef CPoses2DSequencePtr mrpt::poses::CPoses2DSequence::SmartPtr

A typedef for the associated smart pointer

Definition at line 50 of file CPoses2DSequence.h.

Constructor & Destructor Documentation

mrpt::poses::CPoses2DSequence::CPoses2DSequence ( )

Default constructor.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoses2DSequence::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::utils::CSerializable.

CPose2D mrpt::poses::CPoses2DSequence::absolutePoseAfterAll ( )

A shortcut for "absolutePoseOf( posesCount() )".

See also:: absolutePoseOf, posesCount

CPose2D mrpt::poses::CPoses2DSequence::absolutePoseOf ( unsigned int n )

Returns the absolute pose of a robot after moving "n" poses, so for "n=0" the origin pose (0,0,0deg) is returned, for "n=1" the first pose is returned, and for "n=posesCount()", the pose of robot after moving ALL poses is returned, all of them relative to the starting pose.

Exceptions:

std::exception On invalid index value

See also:: absolutePoseAfterAll

void mrpt::poses::CPoses2DSequence::appendPose ( CPose2D & newPose )

Appends a new pose at the end of sequence.

Remember that poses are relative, incremental to the last one.

void mrpt::poses::CPoses2DSequence::changePose	(	unsigned int	ind,
		CPose2D &	inPose
	)

Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1"

Exceptions:

std::exception On invalid index value.

void mrpt::poses::CPoses2DSequence::clear ( )

Clears the sequence.

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.

float mrpt::poses::CPoses2DSequence::computeTraveledDistanceAfter ( unsigned int n )

Returns the traveled distance after moving "n" poses, so for "n=0" it returns 0, for "n=1" the first traveled distance, and for "n=posesCount()", the total distance after ALL movements.

Exceptions:

std::exception On invalid index value

See also:: computeTraveledDistanceAfterAll

float mrpt::poses::CPoses2DSequence::computeTraveledDistanceAfterAll ( )

Returns the traveled distance after ALL movements.

A shortcut for "computeTraveledDistanceAfter( posesCount() )".

See also:: computeTraveledDistanceAfter

static CPoses2DSequencePtr mrpt::poses::CPoses2DSequence::Create ( ) [static]

static mrpt::utils::CObject* mrpt::poses::CPoses2DSequence::CreateObject ( ) [static]

virtual mrpt::utils::CObject* mrpt::poses::CPoses2DSequence::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.

void mrpt::poses::CPoses2DSequence::getPose	(	unsigned int	ind,
		CPose2D &	outPose
	)

Reads the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1"

Exceptions:

std::exception On invalid index value.

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoses2DSequence::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

size_t mrpt::poses::CPoses2DSequence::posesCount ( )

Returns the poses count in the sequence:

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 in mrpt::slam::CRandomFieldGridMap2D, mrpt::slam::CPointsMap, mrpt::slam::CObservation, mrpt::slam::CMetricMap, mrpt::opengl::CRenderizable, mrpt::poses::CPose3DQuatPDF, mrpt::poses::CPointPDF, mrpt::poses::CPose3DPDF, mrpt::poses::CPosePDF, mrpt::poses::CPoint2DPDF, mrpt::opengl::CRenderizableDisplayList, mrpt::slam::CAction, mrpt::detectors::CDetectableObject, mrpt::opengl::CTexturedObject, and mrpt::reactivenav::CHolonomicLogFileRecord.

Definition at line 56 of file CSerializable.h.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::poses::CPoses2DSequence::_init_CPoses2DSequence [static, protected]

Definition at line 50 of file CPoses2DSequence.h.

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

Definition at line 139 of file CObject.h.

mrpt::utils::TRuntimeClassId mrpt::poses::CPoses2DSequence::classCPoses2DSequence [static]

Definition at line 50 of file CPoses2DSequence.h.

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

Definition at line 56 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoses2DSequence::classinfo [static]

Definition at line 50 of file CPoses2DSequence.h.

mrpt::aligned_containers<CPose2D>::vector_t mrpt::poses::CPoses2DSequence::poses [private]

The internal sequence of poses, stored as relative, incremental poses, thus each one is situated just at the end point of last one, where the first one is referenced to (0,0,0deg)

Definition at line 106 of file CPoses2DSequence.h.