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mrpt::obs::CActionRobotMovement3D Class Reference

Detailed Description

Represents a probabilistic 3D (6D) movement.

Currently this can be determined from visual odometry for full 6D, or from wheel encoders for 2D movements only.

See also
CAction

Definition at line 28 of file obs/CActionRobotMovement3D.h.

#include <mrpt/obs/CActionRobotMovement3D.h>

Inheritance diagram for mrpt::obs::CActionRobotMovement3D:
Inheritance graph

Public Types

enum  TEstimationMethod { emOdometry = 0 , emVisualOdometry }
 A list of posible ways for estimating the content of a CActionRobotMovement3D object. More...
 

Public Member Functions

 CActionRobotMovement3D ()
 Constructor. More...
 
virtual ~CActionRobotMovement3D ()
 Destructor. More...
 

Public Attributes

poses::CPose3DPDFGaussian poseChange
 The 3D pose change probabilistic estimation. More...
 
poses::CPose3DQuatPDFGaussian poseChangeQuat
 
TEstimationMethod estimationMethod
 This fields indicates the way this estimation was obtained. More...
 
vector_bool hasVelocities
 Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries. More...
 
mrpt::math::CVectorFloat velocities
 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). More...
 
mrpt::system::TTimeStamp timestamp
 The associated time-stamp. More...
 

Static Public Attributes

RTTI stuff <br>
static const mrpt::utils::TRuntimeClassId classCAction
 

Protected Member Functions

CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE
 
void readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE
 

RTTI stuff <br>

typedef CActionRobotMovement3DPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CActionRobotMovement3D
 
static mrpt::utils::TRuntimeClassId classCActionRobotMovement3D
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const MRPT_OVERRIDE
 
virtual mrpt::utils::CObjectduplicate () const MRPT_OVERRIDE
 
static mrpt::utils::CObjectCreateObject ()
 
static CActionRobotMovement3DPtr Create ()
 

Member Typedef Documentation

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 31 of file obs/CActionRobotMovement3D.h.

Member Enumeration Documentation

◆ TEstimationMethod

A list of posible ways for estimating the content of a CActionRobotMovement3D object.

Enumerator
emOdometry 
emVisualOdometry 

Definition at line 36 of file obs/CActionRobotMovement3D.h.

Constructor & Destructor Documentation

◆ CActionRobotMovement3D()

mrpt::obs::CActionRobotMovement3D::CActionRobotMovement3D ( )

Constructor.

◆ ~CActionRobotMovement3D()

virtual mrpt::obs::CActionRobotMovement3D::~CActionRobotMovement3D ( )
virtual

Destructor.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId * mrpt::obs::CActionRobotMovement3D::_GetBaseClass ( )
staticprotected

◆ Create()

static CActionRobotMovement3DPtr mrpt::obs::CActionRobotMovement3D::Create ( )
static

◆ CreateObject()

static mrpt::utils::CObject * mrpt::obs::CActionRobotMovement3D::CreateObject ( )
static

◆ duplicate()

virtual mrpt::utils::CObject * mrpt::obs::CActionRobotMovement3D::duplicate ( ) const
virtual

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId * mrpt::obs::CActionRobotMovement3D::GetRuntimeClass ( ) const
virtual

Reimplemented from mrpt::obs::CAction.

◆ readFromStream()

void mrpt::obs::CActionRobotMovement3D::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protected

◆ writeToStream()

void mrpt::obs::CActionRobotMovement3D::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protected

Member Data Documentation

◆ _init_CActionRobotMovement3D

mrpt::utils::CLASSINIT mrpt::obs::CActionRobotMovement3D::_init_CActionRobotMovement3D
staticprotected

Definition at line 31 of file obs/CActionRobotMovement3D.h.

◆ classCAction

const mrpt::utils::TRuntimeClassId mrpt::obs::CAction::classCAction
staticinherited

Definition at line 36 of file obs/CAction.h.

◆ classCActionRobotMovement3D

mrpt::utils::TRuntimeClassId mrpt::obs::CActionRobotMovement3D::classCActionRobotMovement3D
static

Definition at line 31 of file obs/CActionRobotMovement3D.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::obs::CActionRobotMovement3D::classinfo
static

Definition at line 31 of file obs/CActionRobotMovement3D.h.

◆ estimationMethod

TEstimationMethod mrpt::obs::CActionRobotMovement3D::estimationMethod

This fields indicates the way this estimation was obtained.

Definition at line 58 of file obs/CActionRobotMovement3D.h.

◆ hasVelocities

vector_bool mrpt::obs::CActionRobotMovement3D::hasVelocities

Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries.

Definition at line 62 of file obs/CActionRobotMovement3D.h.

◆ poseChange

poses::CPose3DPDFGaussian mrpt::obs::CActionRobotMovement3D::poseChange

The 3D pose change probabilistic estimation.

Definition at line 52 of file obs/CActionRobotMovement3D.h.

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

◆ poseChangeQuat

poses::CPose3DQuatPDFGaussian mrpt::obs::CActionRobotMovement3D::poseChangeQuat

Definition at line 53 of file obs/CActionRobotMovement3D.h.

◆ timestamp

mrpt::system::TTimeStamp mrpt::obs::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 50 of file obs/CAction.h.

◆ velocities

mrpt::math::CVectorFloat mrpt::obs::CActionRobotMovement3D::velocities

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).

Definition at line 66 of file obs/CActionRobotMovement3D.h.




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