mrpt::nav::CLogFileRecord Class Reference

Detailed Description

A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationSystem class.

See also

CReactiveNavigationSystem, CHolonomicLogFileRecord

Definition at line 30 of file CLogFileRecord.h.

#include <mrpt/nav/reactive/CLogFileRecord.h>

Inheritance diagram for mrpt::nav::CLogFileRecord:

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 ()

Member Typedef Documentation

SmartPtr

typedef CLogFileRecordPtr mrpt::nav::CLogFileRecord::SmartPtr

A typedef for the associated smart pointer

Definition at line 32 of file CLogFileRecord.h.

Constructor & Destructor Documentation

CLogFileRecord()

mrpt::nav::CLogFileRecord::CLogFileRecord

(

)

Constructor, builds an empty record.

~CLogFileRecord()

virtual mrpt::nav::CLogFileRecord::~CLogFileRecord ( )

virtual

Destructor, free all objects.

Member Function Documentation

_GetBaseClass()

static const mrpt::utils::TRuntimeClassId * mrpt::nav::CLogFileRecord::_GetBaseClass ( )

staticprotected

Create()

static CLogFileRecordPtr mrpt::nav::CLogFileRecord::Create ( )

static

CreateObject()

static mrpt::utils::CObject * mrpt::nav::CLogFileRecord::CreateObject ( )

static

duplicate()

virtual mrpt::utils::CObject * mrpt::nav::CLogFileRecord::duplicate ( ) const

virtual

freeInfoPerPTGs()

void mrpt::nav::CLogFileRecord::freeInfoPerPTGs ( )

private

Free all objects in infoPerPTGs structures (used internally).

GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId * mrpt::nav::CLogFileRecord::GetRuntimeClass ( ) const

virtual

operator=()

void mrpt::nav::CLogFileRecord::operator=

(

CLogFileRecord &

)

Copy .

readFromStream()

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

protected

writeToStream()

void mrpt::nav::CLogFileRecord::writeToStream ( mrpt::utils::CStream &  out, int *  getVersion  ) const

protected

Member Data Documentation

_init_CLogFileRecord

mrpt::utils::CLASSINIT mrpt::nav::CLogFileRecord::_init_CLogFileRecord

staticprotected

Definition at line 32 of file CLogFileRecord.h.

actual_v

float mrpt::nav::CLogFileRecord::actual_v

Definition at line 73 of file CLogFileRecord.h.

actual_w

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.

classCLogFileRecord

mrpt::utils::TRuntimeClassId mrpt::nav::CLogFileRecord::classCLogFileRecord

static

Definition at line 32 of file CLogFileRecord.h.

classinfo

const mrpt::utils::TRuntimeClassId* mrpt::nav::CLogFileRecord::classinfo

static

Definition at line 32 of file CLogFileRecord.h.

estimatedExecutionPeriod

float mrpt::nav::CLogFileRecord::estimatedExecutionPeriod

The estimated execution period.

Definition at line 67 of file CLogFileRecord.h.

executionTime

float mrpt::nav::CLogFileRecord::executionTime

The total computation time, excluding sensing.

Definition at line 66 of file CLogFileRecord.h.

infoPerPTG

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.

navigatorBehavior

int32_t mrpt::nav::CLogFileRecord::navigatorBehavior

The navigator behavior.

Definition at line 75 of file CLogFileRecord.h.

nPTGs

uint32_t mrpt::nav::CLogFileRecord::nPTGs

The number of PTGS:

Definition at line 59 of file CLogFileRecord.h.

nSelectedPTG

int32_t mrpt::nav::CLogFileRecord::nSelectedPTG

The selected PTG.

Definition at line 65 of file CLogFileRecord.h.

robotOdometryPose

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.

robotShape_x

mrpt::math::CVectorFloat mrpt::nav::CLogFileRecord::robotShape_x

Definition at line 74 of file CLogFileRecord.h.

robotShape_y

mrpt::math::CVectorFloat mrpt::nav::CLogFileRecord::robotShape_y

The used robot shape in WS.

Definition at line 74 of file CLogFileRecord.h.

timestamp

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.

v

float mrpt::nav::CLogFileRecord::v

Definition at line 72 of file CLogFileRecord.h.

w

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.

WS_Obstacles

mrpt::maps::CSimplePointsMap mrpt::nav::CLogFileRecord::WS_Obstacles

The WS-Obstacles.

Definition at line 68 of file CLogFileRecord.h.

WS_target_relative

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.