Detailed Description

Represents a probabilistic 2D movement of the robot mobile base.

See the tutorial on probabilistic motion models.

See Also: CAction

Definition at line 53 of file CActionRobotMovement2D.h.

#include <mrpt/slam/CActionRobotMovement2D.h>

Inheritance diagram for mrpt::slam::CActionRobotMovement2D:

Classes
struct	TMotionModelOptions
	The parameter to be passed to "computeFromOdometry". More...

Public Types
enum	TEstimationMethod { emOdometry = 0, emScan2DMatching }
	A list of posible ways for estimating the content of a CActionRobotMovement2D object. More...

enum	TDrawSampleMotionModel { mmGaussian = 0, mmThrun }

Public Member Functions
	CActionRobotMovement2D ()
	Constructor.

	CActionRobotMovement2D (const CActionRobotMovement2D &o)
	Copy constructor.

CActionRobotMovement2D &	operator= (const CActionRobotMovement2D &o)
	Copy operator.

	~CActionRobotMovement2D ()
	Destructor.

void	computeFromOdometry (const CPose2D &odometryIncrement, const TMotionModelOptions &options)
	Computes the PDF of the pose increment from an odometry reading and according to the given motion model (speed and encoder ticks information is not modified).

void	computeFromEncoders (double K_left, double K_right, double D)
	If "hasEncodersInfo"=true, this method updates the pose estimation according to the ticks from both encoders and the passed parameters, which is passed internally to the method "computeFromOdometry" with the last used PDF options (or the defualt ones if not explicitly called by the user).

void	drawSingleSample (CPose2D &outSample) const
	Using this method instead of "poseChange->drawSingleSample()" may be more efficient in most situations.

void	prepareFastDrawSingleSamples () const
	Call this before calling a high number of times "fastDrawSingleSample", which is much faster than "drawSingleSample".

void	fastDrawSingleSample (CPose2D &outSample) const
	Faster version than "drawSingleSample", but requires a previous call to "prepareFastDrawSingleSamples".

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
CPosePDFPtr	poseChange
	The 2D pose change probabilistic estimation.

CPose2D	rawOdometryIncrementReading
	This is the raw odometry reading, and only is used when "estimationMethod" is "TEstimationMethod::emOdometry".

TEstimationMethod	estimationMethod
	This fields indicates the way this estimation was obtained.

bool	hasEncodersInfo
	If "true" means that "encoderLeftTicks" and "encoderRightTicks" contain valid values.

int32_t	encoderLeftTicks
	For odometry only: the ticks count for each wheel FROM the last reading (positive means FORWARD, for both wheels);.

int32_t	encoderRightTicks

bool	hasVelocities
	If "true" means that "velocityLin" and "velocityAng" contain valid values.

float	velocityLin
	The velocity of the robot, linear in meters/sec and angular in rad/sec.

float	velocityAng

struct OBS_IMPEXP mrpt::slam::CActionRobotMovement2D::TMotionModelOptions	motionModelConfiguration

mrpt::system::TTimeStamp	timestamp
	The associated time-stamp.

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCAction

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
void	computeFromOdometry_modelGaussian (const CPose2D &odometryIncrement, const TMotionModelOptions &o)
	Computes the PDF of the pose increment from an odometry reading, using a Gaussian approximation as the motion model.

void	computeFromOdometry_modelThrun (const CPose2D &odometryIncrement, const TMotionModelOptions &o)
	Computes the PDF of the pose increment from an odometry reading, using the motion model from Thrun's book.

void	drawSingleSample_modelGaussian (CPose2D &outSample) const
	The sample generator for the model "computeFromOdometry_modelGaussian", internally called when the user invokes "drawSingleSample".

void	drawSingleSample_modelThrun (CPose2D &outSample) const
	The sample generator for the model "computeFromOdometry_modelThrun", internally called when the user invokes "drawSingleSample".

void	prepareFastDrawSingleSample_modelGaussian () const
	Internal use.

void	prepareFastDrawSingleSample_modelThrun () const
	Internal use.

void	fastDrawSingleSample_modelGaussian (CPose2D &outSample) const
	Internal use.

void	fastDrawSingleSample_modelThrun (CPose2D &outSample) const
	Internal use.

CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream.

void	readFromStream (mrpt::utils::CStream &in, int version)
	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.

Protected Attributes
CMatrixDouble33	m_fastDrawGauss_Z
	Auxiliary matrix.

CPose2D	m_fastDrawGauss_M

RTTI stuff
typedef CActionRobotMovement2DPtr	SmartPtr

static mrpt::utils::CLASSINIT	_init_CActionRobotMovement2D

static mrpt::utils::TRuntimeClassId	classCActionRobotMovement2D

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 CActionRobotMovement2DPtr	Create ()

Member Typedef Documentation

typedef CActionRobotMovement2DPtr mrpt::slam::CActionRobotMovement2D::SmartPtr

A typedef for the associated smart pointer

Definition at line 56 of file CActionRobotMovement2D.h.

Member Enumeration Documentation

enum mrpt::slam::CActionRobotMovement2D::TDrawSampleMotionModel

Enumerator
mmGaussian
mmThrun

Definition at line 112 of file CActionRobotMovement2D.h.

enum mrpt::slam::CActionRobotMovement2D::TEstimationMethod

A list of posible ways for estimating the content of a CActionRobotMovement2D object.

Enumerator
emOdometry
emScan2DMatching

Definition at line 61 of file CActionRobotMovement2D.h.

Constructor & Destructor Documentation

mrpt::slam::CActionRobotMovement2D::CActionRobotMovement2D ( )

Constructor.

mrpt::slam::CActionRobotMovement2D::CActionRobotMovement2D ( const CActionRobotMovement2D & o )

Copy constructor.

mrpt::slam::CActionRobotMovement2D::~CActionRobotMovement2D ( )

Destructor.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CActionRobotMovement2D::_GetBaseClass ( )

staticprotected

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 154 of file CObject.h.

void mrpt::slam::CActionRobotMovement2D::computeFromEncoders	(	double	K_left,
		double	K_right,
		double	D
	)

If "hasEncodersInfo"=true, this method updates the pose estimation according to the ticks from both encoders and the passed parameters, which is passed internally to the method "computeFromOdometry" with the last used PDF options (or the defualt ones if not explicitly called by the user).

Parameters

K_left	The meters / tick ratio for the left encoder.
K_right	The meters / tick ratio for the right encoder.
D	The distance between both wheels, in meters.

void mrpt::slam::CActionRobotMovement2D::computeFromOdometry	(	const CPose2D &	odometryIncrement,
		const TMotionModelOptions &	options
	)

Computes the PDF of the pose increment from an odometry reading and according to the given motion model (speed and encoder ticks information is not modified).

According to the parameters in the passed struct, it will be called one the private sampling functions (see "see also" next).

See Also: computeFromOdometry_modelGaussian, computeFromOdometry_modelThrun

Referenced by mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_gatherActionsCheckBothActObs().

void mrpt::slam::CActionRobotMovement2D::computeFromOdometry_modelGaussian	(	const CPose2D &	odometryIncrement,
		const TMotionModelOptions &	o
	)

protected

Computes the PDF of the pose increment from an odometry reading, using a Gaussian approximation as the motion model.

See Also: computeFromOdometry

void mrpt::slam::CActionRobotMovement2D::computeFromOdometry_modelThrun	(	const CPose2D &	odometryIncrement,
		const TMotionModelOptions &	o
	)

protected

Computes the PDF of the pose increment from an odometry reading, using the motion model from Thrun's book.

This model is discussed in "Probabilistic Robotics", Thrun, Burgard, and Fox, 2006, pp.136.

See Also: computeFromOdometry

static CActionRobotMovement2DPtr mrpt::slam::CActionRobotMovement2D::Create ( )

static

static mrpt::utils::CObject* mrpt::slam::CActionRobotMovement2D::CreateObject ( )

static

void mrpt::slam::CActionRobotMovement2D::drawSingleSample ( CPose2D & outSample ) const

Using this method instead of "poseChange->drawSingleSample()" may be more efficient in most situations.

See Also: CPosePDF::drawSingleSample

void mrpt::slam::CActionRobotMovement2D::drawSingleSample_modelGaussian ( CPose2D & outSample ) const

protected

The sample generator for the model "computeFromOdometry_modelGaussian", internally called when the user invokes "drawSingleSample".

void mrpt::slam::CActionRobotMovement2D::drawSingleSample_modelThrun ( CPose2D & outSample ) const

protected

The sample generator for the model "computeFromOdometry_modelThrun", internally called when the user invokes "drawSingleSample".

virtual mrpt::utils::CObject* mrpt::slam::CActionRobotMovement2D::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

inlineinherited

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::slam::CActionRobotMovement2D::fastDrawSingleSample ( CPose2D & outSample ) const

Faster version than "drawSingleSample", but requires a previous call to "prepareFastDrawSingleSamples".

void mrpt::slam::CActionRobotMovement2D::fastDrawSingleSample_modelGaussian ( CPose2D & outSample ) const

protected

Internal use.

void mrpt::slam::CActionRobotMovement2D::fastDrawSingleSample_modelThrun ( CPose2D & outSample ) const

protected

Internal use.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CActionRobotMovement2D::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CAction.

CActionRobotMovement2D& mrpt::slam::CActionRobotMovement2D::operator= ( const CActionRobotMovement2D & o )

Copy operator.

void mrpt::slam::CActionRobotMovement2D::prepareFastDrawSingleSample_modelGaussian ( ) const

protected

Internal use.

void mrpt::slam::CActionRobotMovement2D::prepareFastDrawSingleSample_modelThrun ( ) const

protected

Internal use.

void mrpt::slam::CActionRobotMovement2D::prepareFastDrawSingleSamples ( ) const

Call this before calling a high number of times "fastDrawSingleSample", which is much faster than "drawSingleSample".

void mrpt::slam::CActionRobotMovement2D::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

protectedvirtual

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

Implements mrpt::utils::CSerializable.

void mrpt::slam::CActionRobotMovement2D::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedvirtual

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

Implements mrpt::utils::CSerializable.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::slam::CActionRobotMovement2D::_init_CActionRobotMovement2D

staticprotected

Definition at line 56 of file CActionRobotMovement2D.h.

const mrpt::utils::TRuntimeClassId mrpt::slam::CAction::classCAction

staticinherited

Definition at line 55 of file CAction.h.

mrpt::utils::TRuntimeClassId mrpt::slam::CActionRobotMovement2D::classCActionRobotMovement2D

static

Definition at line 56 of file CActionRobotMovement2D.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 139 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 56 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::slam::CActionRobotMovement2D::classinfo

static

Definition at line 56 of file CActionRobotMovement2D.h.

int32_t mrpt::slam::CActionRobotMovement2D::encoderLeftTicks

For odometry only: the ticks count for each wheel FROM the last reading (positive means FORWARD, for both wheels);.

See Also: hasEncodersInfo

Definition at line 102 of file CActionRobotMovement2D.h.

int32_t mrpt::slam::CActionRobotMovement2D::encoderRightTicks

Definition at line 102 of file CActionRobotMovement2D.h.

TEstimationMethod mrpt::slam::CActionRobotMovement2D::estimationMethod

This fields indicates the way this estimation was obtained.

Definition at line 93 of file CActionRobotMovement2D.h.

bool mrpt::slam::CActionRobotMovement2D::hasEncodersInfo

If "true" means that "encoderLeftTicks" and "encoderRightTicks" contain valid values.

Definition at line 97 of file CActionRobotMovement2D.h.

bool mrpt::slam::CActionRobotMovement2D::hasVelocities

If "true" means that "velocityLin" and "velocityAng" contain valid values.

Definition at line 106 of file CActionRobotMovement2D.h.

CPose2D mrpt::slam::CActionRobotMovement2D::m_fastDrawGauss_M

mutableprotected

Definition at line 233 of file CActionRobotMovement2D.h.

CMatrixDouble33 mrpt::slam::CActionRobotMovement2D::m_fastDrawGauss_Z

mutableprotected

Auxiliary matrix.

Definition at line 232 of file CActionRobotMovement2D.h.

struct OBS_IMPEXP mrpt::slam::CActionRobotMovement2D::TMotionModelOptions mrpt::slam::CActionRobotMovement2D::motionModelConfiguration

Referenced by mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_gatherActionsCheckBothActObs().

CPosePDFPtr mrpt::slam::CActionRobotMovement2D::poseChange

The 2D pose change probabilistic estimation.

Definition at line 85 of file CActionRobotMovement2D.h.

Referenced by mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_gatherActionsCheckBothActObs(), and mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_pfStandardProposal().

CPose2D mrpt::slam::CActionRobotMovement2D::rawOdometryIncrementReading

This is the raw odometry reading, and only is used when "estimationMethod" is "TEstimationMethod::emOdometry".

Definition at line 89 of file CActionRobotMovement2D.h.

mrpt::system::TTimeStamp mrpt::slam::CAction::timestamp

inherited

The associated time-stamp.

This was added at 2-Dec-2007, new serialization versions have been added to derived classes to manage this time-stamp. Prior versions will be read as having a INVALID_TIMESTAMP value.

Definition at line 69 of file CAction.h.

float mrpt::slam::CActionRobotMovement2D::velocityAng

Definition at line 110 of file CActionRobotMovement2D.h.

float mrpt::slam::CActionRobotMovement2D::velocityLin

The velocity of the robot, linear in meters/sec and angular in rad/sec.

Definition at line 110 of file CActionRobotMovement2D.h.

Detailed Description

Classes

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

RTTI stuff

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation