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.
Definition at line 28 of file obs/CActionRobotMovement3D.h.
#include <mrpt/obs/CActionRobotMovement3D.h>
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. | |
virtual | ~CActionRobotMovement3D () |
Destructor. | |
Public Attributes | |
poses::CPose3DPDFGaussian | poseChange |
The 3D pose change probabilistic estimation. | |
poses::CPose3DQuatPDFGaussian | poseChangeQuat |
TEstimationMethod | estimationMethod |
This fields indicates the way this estimation was obtained. | |
vector_bool | hasVelocities |
Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries. | |
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). | |
mrpt::system::TTimeStamp | timestamp |
The associated time-stamp. | |
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::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 CActionRobotMovement3DPtr | Create () |
A typedef for the associated smart pointer
Definition at line 31 of file obs/CActionRobotMovement3D.h.
A list of posible ways for estimating the content of a CActionRobotMovement3D object.
Enumerator | |
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emOdometry | |
emVisualOdometry |
Definition at line 36 of file obs/CActionRobotMovement3D.h.
mrpt::obs::CActionRobotMovement3D::CActionRobotMovement3D | ( | ) |
Constructor.
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Destructor.
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Reimplemented from mrpt::obs::CAction.
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staticprotected |
Definition at line 31 of file obs/CActionRobotMovement3D.h.
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staticinherited |
Definition at line 36 of file obs/CAction.h.
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Definition at line 31 of file obs/CActionRobotMovement3D.h.
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Definition at line 31 of file obs/CActionRobotMovement3D.h.
TEstimationMethod mrpt::obs::CActionRobotMovement3D::estimationMethod |
This fields indicates the way this estimation was obtained.
Definition at line 58 of file obs/CActionRobotMovement3D.h.
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.
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().
poses::CPose3DQuatPDFGaussian mrpt::obs::CActionRobotMovement3D::poseChangeQuat |
Definition at line 53 of file obs/CActionRobotMovement3D.h.
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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.
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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