Detailed Description

A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationSystem class.

See also:: CReactiveNavigationSystem, CHolonomicLogFileRecord

#include <mrpt/reactivenav/CLogFileRecord.h>

Inheritance diagram for mrpt::reactivenav::CLogFileRecord:

Classes
struct	TInfoPerPTG
	The structure used to store all relevant information about each transformation into TP-Space. More...
Public Member Functions
	CLogFileRecord ()
	Constructor, builds an empty record.
virtual	~CLogFileRecord ()
	Destructor, free all objects.
void	operator= (CLogFileRecord &)
	Copy .
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
mrpt::system::TTimeStamp	timestamp
	The timestamp of when this log was processed by the reactive algorithm (It can be INVALID_TIMESTAMP for navigation logs in MRPT <0.9.5)
uint32_t	nPTGs
	The number of PTGS:
vector_float	securityDistances
	The security distances:
std::vector< TInfoPerPTG, Eigen::aligned_allocator < TInfoPerPTG > >	infoPerPTG
	The info for each applied PTG: must contain "nPTGs·nSecDistances" elements.
int32_t	nSelectedPTG
	The selected PTG.
float	executionTime
	The total computation time, excluding sensing.
float	estimatedExecutionPeriod
	The estimated execution period.
mrpt::slam::CSimplePointsMap	WS_Obstacles
	The WS-Obstacles.
mrpt::poses::CPose2D	robotOdometryPose
	The robot pose (from raw odometry or a localization system).
mrpt::poses::CPoint2D	WS_target_relative
	The relative location of target point in WS.
float	v
float	w
	The final motion command sent to robot, in "m/sec" and "rad/sec".
float	actual_v
float	actual_w
	The actual robot velocities, as read from sensors, in "m/sec" and "rad/sec".
vector_float	robotShape_x
vector_float	robotShape_y
	The used robot shape in WS.
int32_t	navigatorBehavior
	The navigator behavior.
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 Member Functions
void	freeInfoPerPTGs ()
	Free all objects in infoPerPTGs structures (used internally).
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable
class	mrpt::utils::CStream
RTTI stuff
typedef CLogFileRecordPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CLogFileRecord
static mrpt::utils::TRuntimeClassId	classCLogFileRecord
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 CLogFileRecordPtr	Create ()

Member Typedef Documentation

typedef CLogFileRecordPtr mrpt::reactivenav::CLogFileRecord::SmartPtr

A typedef for the associated smart pointer

Definition at line 52 of file CLogFileRecord.h.

Constructor & Destructor Documentation

mrpt::reactivenav::CLogFileRecord::CLogFileRecord ( )

Constructor, builds an empty record.

virtual mrpt::reactivenav::CLogFileRecord::~CLogFileRecord ( ) [virtual]

Destructor, free all objects.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::reactivenav::CLogFileRecord::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::utils::CSerializable.

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 CLogFileRecordPtr mrpt::reactivenav::CLogFileRecord::Create ( ) [static]

static mrpt::utils::CObject* mrpt::reactivenav::CLogFileRecord::CreateObject ( ) [static]

virtual mrpt::utils::CObject* mrpt::reactivenav::CLogFileRecord::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::reactivenav::CLogFileRecord::freeInfoPerPTGs ( ) [private]

Free all objects in infoPerPTGs structures (used internally).

virtual const mrpt::utils::TRuntimeClassId* mrpt::reactivenav::CLogFileRecord::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

void mrpt::reactivenav::CLogFileRecord::operator= ( CLogFileRecord & )

Copy .

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