9#ifndef CPoses3DSequence_H
10#define CPoses3DSequence_H
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE(class_name, base_name)
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE(class_name, base_name)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
This class stores a sequence of relative, incremental 3D poses.
float computeTraveledDistanceAfter(unsigned int n)
Returns the traveled distance after moving "n" poses, so for "n=0" it returns 0, for "n=1" the first ...
void clear()
Clears the sequence.
CPose3D absolutePoseAfterAll()
A shortcut for "absolutePoseOf( posesCount() )".
void appendPose(CPose3D &newPose)
Appends a new pose at the end of sequence.
float computeTraveledDistanceAfterAll()
Returns the traveled distance after ALL movements.
size_t posesCount()
Returns the poses count in the sequence:
CPose3D absolutePoseOf(unsigned int n)
Returns the absolute pose of a robot after moving "n" poses, so for "n=0" the origin pose (0,...
void getPose(unsigned int ind, CPose3D &outPose)
Reads the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1".
std::vector< mrpt::math::TPose3D > m_poses
The internal sequence of poses, stored as relative, incremental poses, thus each one is situated just...
void changePose(unsigned int ind, CPose3D &inPose)
Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1".
CPoses3DSequence()
Default constructor.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.