A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationSystem class.
Definition at line 30 of file CLogFileRecord.h.
#include <mrpt/nav/reactive/CLogFileRecord.h>
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 . | |
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: | |
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::maps::CSimplePointsMap | WS_Obstacles |
The WS-Obstacles. | |
mrpt::poses::CPose2D | robotOdometryPose |
The robot pose (from raw odometry or a localization system). | |
mrpt::math::TPoint2D | 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". | |
mrpt::math::CVectorFloat | robotShape_x |
mrpt::math::CVectorFloat | robotShape_y |
The used robot shape in WS. | |
int32_t | navigatorBehavior |
The navigator behavior. | |
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 |
Private Member Functions | |
void | freeInfoPerPTGs () |
Free all objects in infoPerPTGs structures (used internally). | |
RTTI stuff <br> | |
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 MRPT_OVERRIDE |
virtual mrpt::utils::CObject * | duplicate () const MRPT_OVERRIDE |
static mrpt::utils::CObject * | CreateObject () |
static CLogFileRecordPtr | Create () |
A typedef for the associated smart pointer
Definition at line 32 of file CLogFileRecord.h.
mrpt::nav::CLogFileRecord::CLogFileRecord | ( | ) |
Constructor, builds an empty record.
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Destructor, free all objects.
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Free all objects in infoPerPTGs structures (used internally).
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void mrpt::nav::CLogFileRecord::operator= | ( | CLogFileRecord & | ) |
Copy .
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Definition at line 32 of file CLogFileRecord.h.
float mrpt::nav::CLogFileRecord::actual_v |
Definition at line 73 of file CLogFileRecord.h.
float mrpt::nav::CLogFileRecord::actual_w |
The actual robot velocities, as read from sensors, in "m/sec" and "rad/sec".
Definition at line 73 of file CLogFileRecord.h.
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Definition at line 32 of file CLogFileRecord.h.
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Definition at line 32 of file CLogFileRecord.h.
float mrpt::nav::CLogFileRecord::estimatedExecutionPeriod |
The estimated execution period.
Definition at line 67 of file CLogFileRecord.h.
float mrpt::nav::CLogFileRecord::executionTime |
The total computation time, excluding sensing.
Definition at line 66 of file CLogFileRecord.h.
std::vector<TInfoPerPTG, Eigen::aligned_allocator<TInfoPerPTG> > mrpt::nav::CLogFileRecord::infoPerPTG |
The info for each applied PTG: must contain "nPTGs * nSecDistances" elements.
Definition at line 63 of file CLogFileRecord.h.
int32_t mrpt::nav::CLogFileRecord::navigatorBehavior |
The navigator behavior.
Definition at line 75 of file CLogFileRecord.h.
uint32_t mrpt::nav::CLogFileRecord::nPTGs |
The number of PTGS:
Definition at line 59 of file CLogFileRecord.h.
int32_t mrpt::nav::CLogFileRecord::nSelectedPTG |
The selected PTG.
Definition at line 65 of file CLogFileRecord.h.
mrpt::poses::CPose2D mrpt::nav::CLogFileRecord::robotOdometryPose |
The robot pose (from raw odometry or a localization system).
Definition at line 69 of file CLogFileRecord.h.
mrpt::math::CVectorFloat mrpt::nav::CLogFileRecord::robotShape_x |
Definition at line 74 of file CLogFileRecord.h.
mrpt::math::CVectorFloat mrpt::nav::CLogFileRecord::robotShape_y |
The used robot shape in WS.
Definition at line 74 of file CLogFileRecord.h.
mrpt::system::TTimeStamp mrpt::nav::CLogFileRecord::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)
Definition at line 58 of file CLogFileRecord.h.
float mrpt::nav::CLogFileRecord::v |
Definition at line 72 of file CLogFileRecord.h.
float mrpt::nav::CLogFileRecord::w |
The final motion command sent to robot, in "m/sec" and "rad/sec".
Definition at line 72 of file CLogFileRecord.h.
mrpt::maps::CSimplePointsMap mrpt::nav::CLogFileRecord::WS_Obstacles |
The WS-Obstacles.
Definition at line 68 of file CLogFileRecord.h.
mrpt::math::TPoint2D mrpt::nav::CLogFileRecord::WS_target_relative |
The relative location of target point in WS.
Definition at line 70 of file CLogFileRecord.h.
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