Represents a probabilistic 2D movement of the robot mobile base.
See the tutorial on probabilistic motion models.
Definition at line 29 of file obs/CActionRobotMovement2D.h.
#include <mrpt/obs/CActionRobotMovement2D.h>
Classes | |
struct | TMotionModelOptions |
The parameter to be passed to "computeFromOdometry". More... | |
Public Types | |
enum | TEstimationMethod { emOdometry = 0 , emScan2DMatching } |
A list of posible ways for estimating the content of a CActionRobotMovement2D object. More... | |
enum | TDrawSampleMotionModel { mmGaussian = 0 , mmThrun } |
Public Member Functions | |
CActionRobotMovement2D () | |
Constructor. | |
CActionRobotMovement2D (const CActionRobotMovement2D &o) | |
Copy constructor. | |
CActionRobotMovement2D & | operator= (const CActionRobotMovement2D &o) |
Copy operator. | |
~CActionRobotMovement2D () | |
Destructor. | |
void | computeFromOdometry (const mrpt::poses::CPose2D &odometryIncrement, const TMotionModelOptions &options) |
Computes the PDF of the pose increment from an odometry reading and according to the given motion model (speed and encoder ticks information is not modified). | |
void | computeFromEncoders (double K_left, double K_right, double D) |
If "hasEncodersInfo"=true, this method updates the pose estimation according to the ticks from both encoders and the passed parameters, which is passed internally to the method "computeFromOdometry" with the last used PDF options (or the defualt ones if not explicitly called by the user). | |
void | drawSingleSample (mrpt::poses::CPose2D &outSample) const |
Using this method instead of "poseChange->drawSingleSample()" may be more efficient in most situations. | |
void | prepareFastDrawSingleSamples () const |
Call this before calling a high number of times "fastDrawSingleSample", which is much faster than "drawSingleSample". | |
void | fastDrawSingleSample (mrpt::poses::CPose2D &outSample) const |
Faster version than "drawSingleSample", but requires a previous call to "prepareFastDrawSingleSamples". | |
Public Attributes | |
mrpt::poses::CPosePDFPtr | poseChange |
The 2D pose change probabilistic estimation. | |
mrpt::poses::CPose2D | rawOdometryIncrementReading |
This is the raw odometry reading, and only is used when "estimationMethod" is "TEstimationMethod::emOdometry". | |
TEstimationMethod | estimationMethod |
This fields indicates the way in which this estimation was obtained. | |
bool | hasEncodersInfo |
If "true" means that "encoderLeftTicks" and "encoderRightTicks" contain valid values. | |
int32_t | encoderLeftTicks |
For odometry only: the ticks count for each wheel FROM the last reading (positive means FORWARD, for both wheels);. | |
int32_t | encoderRightTicks |
bool | hasVelocities |
If "true" means that "velocityLin" and "velocityAng" contain valid values. | |
float | velocityLin |
float | velocityAng |
The velocity of the robot, linear in meters/sec and angular in rad/sec. | |
struct OBS_IMPEXP mrpt::obs::CActionRobotMovement2D::TMotionModelOptions | motionModelConfiguration |
mrpt::system::TTimeStamp | timestamp |
The associated time-stamp. | |
Static Public Attributes | |
RTTI stuff <br> | |
static const mrpt::utils::TRuntimeClassId | classCAction |
Protected Member Functions | |
void | computeFromOdometry_modelGaussian (const mrpt::poses::CPose2D &odometryIncrement, const TMotionModelOptions &o) |
Computes the PDF of the pose increment from an odometry reading, using a Gaussian approximation as the motion model. | |
void | computeFromOdometry_modelThrun (const mrpt::poses::CPose2D &odometryIncrement, const TMotionModelOptions &o) |
Computes the PDF of the pose increment from an odometry reading, using the motion model from Thrun's book. | |
void | drawSingleSample_modelGaussian (mrpt::poses::CPose2D &outSample) const |
The sample generator for the model "computeFromOdometry_modelGaussian", internally called when the user invokes "drawSingleSample". | |
void | drawSingleSample_modelThrun (mrpt::poses::CPose2D &outSample) const |
The sample generator for the model "computeFromOdometry_modelThrun", internally called when the user invokes "drawSingleSample". | |
void | prepareFastDrawSingleSample_modelGaussian () const |
Internal use. | |
void | prepareFastDrawSingleSample_modelThrun () const |
Internal use. | |
void | fastDrawSingleSample_modelGaussian (mrpt::poses::CPose2D &outSample) const |
Internal use. | |
void | fastDrawSingleSample_modelThrun (mrpt::poses::CPose2D &outSample) const |
Internal use. | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE |
void | readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE |
Protected Attributes | |
mrpt::math::CMatrixDouble33 | m_fastDrawGauss_Z |
Auxiliary matrix. | |
mrpt::poses::CPose2D | m_fastDrawGauss_M |
RTTI stuff <br> | |
typedef CActionRobotMovement2DPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CActionRobotMovement2D |
static mrpt::utils::TRuntimeClassId | classCActionRobotMovement2D |
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 CActionRobotMovement2DPtr | Create () |
A typedef for the associated smart pointer
Definition at line 32 of file obs/CActionRobotMovement2D.h.
Enumerator | |
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mmGaussian | |
mmThrun |
Definition at line 62 of file obs/CActionRobotMovement2D.h.
A list of posible ways for estimating the content of a CActionRobotMovement2D object.
Enumerator | |
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emOdometry | |
emScan2DMatching |
Definition at line 37 of file obs/CActionRobotMovement2D.h.
mrpt::obs::CActionRobotMovement2D::CActionRobotMovement2D | ( | ) |
Constructor.
mrpt::obs::CActionRobotMovement2D::CActionRobotMovement2D | ( | const CActionRobotMovement2D & | o | ) |
Copy constructor.
mrpt::obs::CActionRobotMovement2D::~CActionRobotMovement2D | ( | ) |
Destructor.
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staticprotected |
void mrpt::obs::CActionRobotMovement2D::computeFromEncoders | ( | double | K_left, |
double | K_right, | ||
double | D | ||
) |
If "hasEncodersInfo"=true, this method updates the pose estimation according to the ticks from both encoders and the passed parameters, which is passed internally to the method "computeFromOdometry" with the last used PDF options (or the defualt ones if not explicitly called by the user).
K_left | The meters / tick ratio for the left encoder. |
K_right | The meters / tick ratio for the right encoder. |
D | The distance between both wheels, in meters. |
void mrpt::obs::CActionRobotMovement2D::computeFromOdometry | ( | const mrpt::poses::CPose2D & | odometryIncrement, |
const TMotionModelOptions & | options | ||
) |
Computes the PDF of the pose increment from an odometry reading and according to the given motion model (speed and encoder ticks information is not modified).
According to the parameters in the passed struct, it will be called one the private sampling functions (see "see also" next).
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protected |
Computes the PDF of the pose increment from an odometry reading, using a Gaussian approximation as the motion model.
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protected |
Computes the PDF of the pose increment from an odometry reading, using the motion model from Thrun's book.
This model is discussed in "Probabilistic Robotics", Thrun, Burgard, and Fox, 2006, pp.136.
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static |
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void mrpt::obs::CActionRobotMovement2D::drawSingleSample | ( | mrpt::poses::CPose2D & | outSample | ) | const |
Using this method instead of "poseChange->drawSingleSample()" may be more efficient in most situations.
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protected |
The sample generator for the model "computeFromOdometry_modelGaussian", internally called when the user invokes "drawSingleSample".
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The sample generator for the model "computeFromOdometry_modelThrun", internally called when the user invokes "drawSingleSample".
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virtual |
void mrpt::obs::CActionRobotMovement2D::fastDrawSingleSample | ( | mrpt::poses::CPose2D & | outSample | ) | const |
Faster version than "drawSingleSample", but requires a previous call to "prepareFastDrawSingleSamples".
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Internal use.
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Internal use.
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virtual |
Reimplemented from mrpt::obs::CAction.
CActionRobotMovement2D & mrpt::obs::CActionRobotMovement2D::operator= | ( | const CActionRobotMovement2D & | o | ) |
Copy operator.
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protected |
Internal use.
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protected |
Internal use.
void mrpt::obs::CActionRobotMovement2D::prepareFastDrawSingleSamples | ( | ) | const |
Call this before calling a high number of times "fastDrawSingleSample", which is much faster than "drawSingleSample".
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protected |
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protected |
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staticprotected |
Definition at line 32 of file obs/CActionRobotMovement2D.h.
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staticinherited |
Definition at line 36 of file obs/CAction.h.
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static |
Definition at line 32 of file obs/CActionRobotMovement2D.h.
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static |
Definition at line 32 of file obs/CActionRobotMovement2D.h.
int32_t mrpt::obs::CActionRobotMovement2D::encoderLeftTicks |
For odometry only: the ticks count for each wheel FROM the last reading (positive means FORWARD, for both wheels);.
Definition at line 57 of file obs/CActionRobotMovement2D.h.
int32_t mrpt::obs::CActionRobotMovement2D::encoderRightTicks |
Definition at line 57 of file obs/CActionRobotMovement2D.h.
TEstimationMethod mrpt::obs::CActionRobotMovement2D::estimationMethod |
This fields indicates the way in which this estimation was obtained.
Definition at line 51 of file obs/CActionRobotMovement2D.h.
bool mrpt::obs::CActionRobotMovement2D::hasEncodersInfo |
If "true" means that "encoderLeftTicks" and "encoderRightTicks" contain valid values.
Definition at line 53 of file obs/CActionRobotMovement2D.h.
bool mrpt::obs::CActionRobotMovement2D::hasVelocities |
If "true" means that "velocityLin" and "velocityAng" contain valid values.
Definition at line 59 of file obs/CActionRobotMovement2D.h.
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mutableprotected |
Definition at line 177 of file obs/CActionRobotMovement2D.h.
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mutableprotected |
Auxiliary matrix.
Definition at line 176 of file obs/CActionRobotMovement2D.h.
struct OBS_IMPEXP mrpt::obs::CActionRobotMovement2D::TMotionModelOptions mrpt::obs::CActionRobotMovement2D::motionModelConfiguration |
mrpt::poses::CPosePDFPtr mrpt::obs::CActionRobotMovement2D::poseChange |
The 2D pose change probabilistic estimation.
Definition at line 48 of file obs/CActionRobotMovement2D.h.
mrpt::poses::CPose2D mrpt::obs::CActionRobotMovement2D::rawOdometryIncrementReading |
This is the raw odometry reading, and only is used when "estimationMethod" is "TEstimationMethod::emOdometry".
Definition at line 50 of file obs/CActionRobotMovement2D.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.
float mrpt::obs::CActionRobotMovement2D::velocityAng |
The velocity of the robot, linear in meters/sec and angular in rad/sec.
Definition at line 60 of file obs/CActionRobotMovement2D.h.
float mrpt::obs::CActionRobotMovement2D::velocityLin |
Definition at line 60 of file obs/CActionRobotMovement2D.h.
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