Main MRPT website > C++ reference
MRPT logo
CActionRobotMovement3D.h
Go to the documentation of this file.
1 /* +---------------------------------------------------------------------------+
2  | The Mobile Robot Programming Toolkit (MRPT) C++ library |
3  | |
4  | http://www.mrpt.org/ |
5  | |
6  | Copyright (C) 2005-2012 University of Malaga |
7  | |
8  | This software was written by the Machine Perception and Intelligent |
9  | Robotics Lab, University of Malaga (Spain). |
10  | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |
11  | |
12  | This file is part of the MRPT project. |
13  | |
14  | MRPT is free software: you can redistribute it and/or modify |
15  | it under the terms of the GNU General Public License as published by |
16  | the Free Software Foundation, either version 3 of the License, or |
17  | (at your option) any later version. |
18  | |
19  | MRPT is distributed in the hope that it will be useful, |
20  | but WITHOUT ANY WARRANTY; without even the implied warranty of |
21  | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
22  | GNU General Public License for more details. |
23  | |
24  | You should have received a copy of the GNU General Public License |
25  | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |
26  | |
27  +---------------------------------------------------------------------------+ */
28 #ifndef CActionRobotMovement3D_H
29 #define CActionRobotMovement3D_H
30 
31 #include <mrpt/slam/CAction.h>
32 #include <mrpt/poses/CPose3DPDFGaussian.h>
33 #include <mrpt/poses/CPose3DQuatPDFGaussian.h>
34 
35 namespace mrpt
36 {
37 namespace slam
38 {
39  DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CActionRobotMovement3D, CAction, OBS_IMPEXP )
40 
41  /** Represents a probabilistic 3D (6D) movement.
42  * Currently this can be determined from visual odometry for full 6D, or from wheel encoders for 2D movements only.
43  *
44  * \ingroup mrpt_obs_grp
45  * \sa CAction
46  */
47  class OBS_IMPEXP CActionRobotMovement3D : public CAction
48  {
49  // This must be added to any CSerializable derived class:
50  DEFINE_SERIALIZABLE( CActionRobotMovement3D )
51 
52  public:
53  /** A list of posible ways for estimating the content of a CActionRobotMovement3D object.
54  */
55  enum TEstimationMethod
56  {
57  emOdometry = 0,
58  emVisualOdometry
59  };
60 
61  /** Constructor
62  */
63  CActionRobotMovement3D();
64 
65  /** Destructor
66  */
67  virtual ~CActionRobotMovement3D();
68 
69  /** The 3D pose change probabilistic estimation.
70  */
71  poses::CPose3DPDFGaussian poseChange;
72  poses::CPose3DQuatPDFGaussian poseChangeQuat;
73 
74 
75  /** This fields indicates the way this estimation was obtained.
76  */
77  TEstimationMethod estimationMethod;
78 
79  /** Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries.
80  */
81  vector_bool hasVelocities;
82 
83  /** 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).
84  */
85  vector_float velocities;
86 
87  }; // End of class def.
88 
89 
90  } // End of namespace
91 } // End of namespace
92 
93 #endif


Page generated by Doxygen 1.8.3 for MRPT 0.9.6 SVN: at Fri Feb 15 22:05:02 EST 2013