Detailed Description

This class stores a rawlog (robotic datasets) in one of two possible formats:

Format #1: A sequence of actions and observations. There is a sequence of objects, where each one can be of one type:
- An action: Implemented as a CActionCollection object, the actuation of the robot (i.e. odometry increment).
- Observations: Implemented as a CSensoryFrame, refering to a set of robot observations from the same pose.
Format #2: A sequence of actions and observations. There is a sequence of objects, where each one can be of one type:

Refer to the wiki page about rawlog files.

See also the application RawLogViewer for the GUI program that visualizes and manages rawlogs.

This class also publishes a static helper method for loading rawlog files in format #1: see CRawlog::readActionObservationPair

There is a field for comments and blocks of parameters (in ini-like format) accessible through getCommentText and setCommentText (introduced in MRPT 0.6.4). When serialized to a rawlog file, the comments are saved as an additional observation of the type CObservationComments at the beginning of the file, but this observation does not appear after loading for clarity.

Note: Since MRPT version 0.5.5, this class also provides a STL container-like interface (see CRawlog::begin, CRawlog::iterator, ...).; The format #2 is supported since MRPT version 0.6.0.; There is a static helper method "detectImagesDirectory" for localizing the external images directory of a rawlog.

See also: CSensoryFrame, CPose2D, RawLog file format.

Definition at line 52 of file obs/CRawlog.h.

#include <mrpt/obs/CRawlog.h>

Inheritance diagram for mrpt::obs::CRawlog:

Classes
class	const_iterator
	A normal iterator, plus the extra method "getType" to determine the type of each entry in the sequence. More...

class	iterator
	A normal iterator, plus the extra method "getType" to determine the type of each entry in the sequence. More...

Public Types
enum	TEntryType { etSensoryFrame = 0, etActionCollection, etObservation, etOther }
	The type of each entry in a rawlog. More...

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) throw ()

void	operator delete[] (void *ptr) throw ()

void	operator delete (void memory, void ptr) throw ()

void *	operator new (size_t size, const std::nothrow_t &) throw ()

void	operator delete (void *ptr, const std::nothrow_t &) throw ()

void	getCommentText (std::string &t) const
	Returns the block of comment text for the rawlog. More...

std::string	getCommentText () const
	Returns the block of comment text for the rawlog. More...

void	setCommentText (const std::string &t)
	Changes the block of comment text for the rawlog. More...

void	getCommentTextAsConfigFile (mrpt::utils::CConfigFileMemory &memCfg) const
	Saves the block of comment text for the rawlog into the passed config file object. More...

	CRawlog ()
	Default constructor. More...

virtual	~CRawlog ()
	Destructor: More...

void	clear ()
	Clear the sequence of actions/observations. More...

void	addAction (CAction &action)
	Add an action to the sequence: a collection of just one element is created. More...

void	addActions (CActionCollection &action)
	Add a set of actions to the sequence; the object is duplicated, so the original one can be freed if desired. More...

void	addObservations (CSensoryFrame &observations)
	Add a set of observations to the sequence; the object is duplicated, so the original one can be free if desired. More...

void	addActionsMemoryReference (const CActionCollectionPtr &action)
	Add a set of actions to the sequence, using a smart pointer to the object to add. More...

void	addObservationsMemoryReference (const CSensoryFramePtr &observations)
	Add a set of observations to the sequence, using a smart pointer to the object to add. More...

void	addObservationMemoryReference (const CObservationPtr &observation)
	Add a single observation to the sequence, using a smart pointer to the object to add. More...

void	addGenericObject (const mrpt::utils::CSerializablePtr &obj)
	Generic add for a smart pointer to a CSerializable object: More...

bool	loadFromRawLogFile (const std::string &fileName, bool non_obs_objects_are_legal=false)
	Load the contents from a file containing one of these possibilities: More...

bool	saveToRawLogFile (const std::string &fileName) const
	Saves the contents to a rawlog-file, compatible with RawlogViewer (As the sequence of internal objects). More...

size_t	size () const
	Returns the number of actions / observations object in the sequence. More...

TEntryType	getType (size_t index) const
	Returns the type of a given element. More...

void	remove (size_t index)
	Delete the action or observation stored in the given index. More...

void	remove (size_t first_index, size_t last_index)
	Delete the elements stored in the given range of indices (including both the first and last one). More...

CActionCollectionPtr	getAsAction (size_t index) const
	Returns the i'th element in the sequence, as being actions, where index=0 is the first object. More...

CSensoryFramePtr	getAsObservations (size_t index) const
	Returns the i'th element in the sequence, as being an action, where index=0 is the first object. More...

mrpt::utils::CSerializablePtr	getAsGeneric (size_t index) const
	Returns the i'th element in the sequence, being its class whatever. More...

CObservationPtr	getAsObservation (size_t index) const
	Returns the i'th element in the sequence, as being an observation, where index=0 is the first object. More...

const_iterator	begin () const

iterator	begin ()

const_iterator	end () const

iterator	end ()

iterator	erase (const iterator &it)

void	findObservationsByClassInRange (mrpt::system::TTimeStamp time_start, mrpt::system::TTimeStamp time_end, const mrpt::utils::TRuntimeClassId *class_type, TListTimeAndObservations &out_found, size_t guess_start_position=0) const
	Returns the sub-set of observations of a given class whose time-stamp t fulfills time_start <= t < time_end. More...

void	moveFrom (CRawlog &obj)
	Efficiently copy the contents from other existing object, and remove the data from the origin (after calling this, the original object will have no actions/observations). More...

void	swap (CRawlog &obj)
	Efficiently swap the contents of two existing objects. More...

bool	getActionObservationPair (CActionCollectionPtr &action, CSensoryFramePtr &observations, size_t &rawlogEntry) const
	Gets the next consecutive pair action / observation from the rawlog loaded into this object. More...

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

CObject *	clone () const
	Cloning interface for smart pointers. More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

static bool	readActionObservationPair (mrpt::utils::CStream &inStream, CActionCollectionPtr &action, CSensoryFramePtr &observations, size_t &rawlogEntry)
	Reads a consecutive pair action / observation from the rawlog opened at some input stream. More...

static bool	getActionObservationPairOrObservation (mrpt::utils::CStream &inStream, CActionCollectionPtr &action, CSensoryFramePtr &observations, CObservationPtr &observation, size_t &rawlogEntry)
	Reads a consecutive pair action/sensory_frame OR an observation, depending of the rawlog format, from the rawlog opened at some input stream. More...

static std::string	detectImagesDirectory (const std::string &rawlogFilename)
	Tries to auto-detect the external-images directory of the given rawlog file. More...

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version)
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

Private Types
typedef std::vector< mrpt::utils::CSerializablePtr >	TListObjects

Private Attributes
TListObjects	m_seqOfActObs
	The list where the objects really are in. More...

CObservationComment	m_commentTexts
	Comments of the rawlog. More...

RTTI stuff
typedef CRawlogPtr	Ptr

typedef CRawlogPtr	ConstPtr

static mrpt::utils::CLASSINIT	_init_CRawlog

static mrpt::utils::TRuntimeClassId	classCRawlog

static const mrpt::utils::TRuntimeClassId *	classinfo

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

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime. More...

virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...

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

static CRawlogPtr	Create ()

Member Typedef Documentation

◆ ConstPtr

typedef CRawlogPtr mrpt::obs::CRawlog::ConstPtr

Definition at line 55 of file obs/CRawlog.h.

◆ Ptr

typedef CRawlogPtr mrpt::obs::CRawlog::Ptr

A typedef for the associated smart pointer

Definition at line 55 of file obs/CRawlog.h.

◆ TListObjects

typedef std::vector<mrpt::utils::CSerializablePtr> mrpt::obs::CRawlog::TListObjects

private

Definition at line 58 of file obs/CRawlog.h.

Member Enumeration Documentation

◆ TEntryType

enum mrpt::obs::CRawlog::TEntryType

The type of each entry in a rawlog.

See also: CRawlog::getType

Enumerator
etSensoryFrame
etActionCollection
etObservation
etOther

Definition at line 72 of file obs/CRawlog.h.

Constructor & Destructor Documentation

◆ CRawlog()

CRawlog::CRawlog ( )

Default constructor.

Definition at line 29 of file CRawlog.cpp.

◆ ~CRawlog()

CRawlog::~CRawlog ( )

virtual

Destructor:

Definition at line 34 of file CRawlog.cpp.

References mrpt::utils::clear().

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::obs::CRawlog::_GetBaseClass ( )

staticprotected

◆ addAction()

void CRawlog::addAction ( CAction & action )

Add an action to the sequence: a collection of just one element is created.

The object is duplicated, so the original one can be freed if desired.

Definition at line 76 of file CRawlog.cpp.

References mrpt::obs::CActionCollection::Create().

Referenced by mrpt::detectors::CDetectorDoorCrossing::process().

◆ addActions()

void CRawlog::addActions ( CActionCollection & action )

Add a set of actions to the sequence; the object is duplicated, so the original one can be freed if desired.

See also: addObservations, addActionsMemoryReference

Definition at line 50 of file CRawlog.cpp.

References mrpt::utils::CObject::duplicateGetSmartPtr().

◆ addActionsMemoryReference()

void CRawlog::addActionsMemoryReference ( const CActionCollectionPtr & action )

Add a set of actions to the sequence, using a smart pointer to the object to add.

See also: addActions, addObservationsMemoryReference, addObservationMemoryReference

Definition at line 54 of file CRawlog.cpp.

◆ addGenericObject()

void CRawlog::addGenericObject ( const mrpt::utils::CSerializablePtr & obj )

Generic add for a smart pointer to a CSerializable object:

See also: addObservations, addActionsMemoryReference, addObservationMemoryReference

Definition at line 61 of file CRawlog.cpp.

◆ addObservationMemoryReference()

void CRawlog::addObservationMemoryReference ( const CObservationPtr & observation )

Add a single observation to the sequence, using a smart pointer to the object to add.

See also: addObservations, addActionsMemoryReference

Definition at line 65 of file CRawlog.cpp.

References IS_CLASS.

◆ addObservations()

void CRawlog::addObservations ( CSensoryFrame & observations )

Add a set of observations to the sequence; the object is duplicated, so the original one can be free if desired.

See also: addActions, addObservationsMemoryReference

Definition at line 45 of file CRawlog.cpp.

References mrpt::utils::CObject::duplicateGetSmartPtr().

Referenced by mrpt::detectors::CDetectorDoorCrossing::process().

◆ addObservationsMemoryReference()

void CRawlog::addObservationsMemoryReference ( const CSensoryFramePtr & observations )

Add a set of observations to the sequence, using a smart pointer to the object to add.

See also: addObservations, addActionsMemoryReference, addObservationMemoryReference

Definition at line 58 of file CRawlog.cpp.

◆ begin() [1/2]

const_iterator mrpt::obs::CRawlog::begin ( ) const

inline

Definition at line 256 of file obs/CRawlog.h.

◆ begin() [2/2]

iterator mrpt::obs::CRawlog::begin ( )

inline

Definition at line 257 of file obs/CRawlog.h.

◆ clear()

void CRawlog::clear ( )

Clear the sequence of actions/observations.

Smart pointers to objects previously in the rawlog will remain being valid.

Definition at line 39 of file CRawlog.cpp.

Referenced by mrpt::detectors::CDetectorDoorCrossing::clear().

◆ clone()

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

◆ Create()

static CRawlogPtr mrpt::obs::CRawlog::Create ( )

static

◆ CreateObject()

static mrpt::utils::CObject* mrpt::obs::CRawlog::CreateObject ( )

static

◆ detectImagesDirectory()

std::string CRawlog::detectImagesDirectory ( const std::string & rawlogFilename )

static

Tries to auto-detect the external-images directory of the given rawlog file.

This searches for the existence of the directories:

"<rawlog_file_path>/<rawlog_filename>_Images"
"<rawlog_file_path>/<rawlog_filename>_images"
"<rawlog_file_path>/<rawlog_filename>_IMAGES"
"<rawlog_file_path>/Images" (This one is returned if none of the choices actually exists).

The results from this function should be written into mrpt::utils::CImage::IMAGES_PATH_BASE to enable automatic loading of extenrnally-stored images in rawlogs.

Definition at line 582 of file CRawlog.cpp.

References mrpt::system::extractFileDirectory(), mrpt::system::extractFileName(), and mrpt::system::fileExists().

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::obs::CRawlog::duplicate ( ) const

virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 140 of file CObject.h.

Referenced by addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and addObservations().

◆ end() [1/2]

const_iterator mrpt::obs::CRawlog::end ( ) const

inline

Definition at line 258 of file obs/CRawlog.h.

◆ end() [2/2]

iterator mrpt::obs::CRawlog::end ( )

inline

Definition at line 259 of file obs/CRawlog.h.

◆ erase()

iterator mrpt::obs::CRawlog::erase ( const iterator & it )

inline

Definition at line 261 of file obs/CRawlog.h.

◆ findObservationsByClassInRange()

void CRawlog::findObservationsByClassInRange	(	mrpt::system::TTimeStamp	time_start,
		mrpt::system::TTimeStamp	time_end,
		const mrpt::utils::TRuntimeClassId *	class_type,
		TListTimeAndObservations &	out_found,
		size_t	guess_start_position = `0`
	)		const

Returns the sub-set of observations of a given class whose time-stamp t fulfills time_start <= t < time_end.

This method requires the timestamps of the sensors to be in strict ascending order (which should be the normal situation). Otherwise, the output is undeterminate.

See also: findClosestObservationsByClass

Definition at line 452 of file CRawlog.cpp.

References ASSERT_, CLASS_ID, mrpt::math::distance(), INVALID_TIMESTAMP, MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ getActionObservationPair()

bool CRawlog::getActionObservationPair	(	CActionCollectionPtr &	action,
		CSensoryFramePtr &	observations,
		size_t &	rawlogEntry
	)		const

Gets the next consecutive pair action / observation from the rawlog loaded into this object.

Previous contents of action and observations are discarded (using stlplus::smart_ptr::clear_unique), and at exit they contain the new objects read from the rawlog file. The input/output variable "rawlogEntry" is just a counter of the last rawlog entry read, for logging or monitoring purposes.

Returns: false if there was some error, true otherwise.

See also: readActionObservationPair

Definition at line 531 of file CRawlog.cpp.

References etActionCollection, and etSensoryFrame.

Referenced by run_test_pf_localization().

◆ getActionObservationPairOrObservation()

bool CRawlog::getActionObservationPairOrObservation	(	mrpt::utils::CStream &	inStream,
		CActionCollectionPtr &	action,
		CSensoryFramePtr &	observations,
		CObservationPtr &	observation,
		size_t &	rawlogEntry
	)

static

Reads a consecutive pair action/sensory_frame OR an observation, depending of the rawlog format, from the rawlog opened at some input stream.

Previous contents of action and observations are discarded (using stlplus::smart_ptr::clear_unique), and at exit they contain the new objects read from the rawlog file.

At return, one of this will happen:

action/observations contain objects (i.e. action.present() evaluates as true).
observation contains an object (i.e. observation.present() evaluates as true).

The input/output variable "rawlogEntry" is just a counter of the last rawlog entry read, for logging or monitoring purposes.

Returns: false if there was some error, true otherwise.

See also: getActionObservationPair

Definition at line 390 of file CRawlog.cpp.

References CLASS_ID, IS_CLASS, and IS_DERIVED.

◆ getAsAction()

CActionCollectionPtr CRawlog::getAsAction ( size_t index ) const

Returns the i'th element in the sequence, as being actions, where index=0 is the first object.

If it is not a CActionCollection, it throws an exception. Do neighter modify nor delete the returned pointer.

See also: size, isAction, getAsObservations, getAsObservation

Exceptions

std::exception If index is out of bounds

Definition at line 88 of file CRawlog.cpp.

References CLASS_ID, MRPT_END, MRPT_START, THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

Referenced by mrpt::detectors::CDetectorDoorCrossing::process().

◆ getAsGeneric()

CSerializablePtr CRawlog::getAsGeneric ( size_t index ) const

Returns the i'th element in the sequence, being its class whatever.

See also: size, isAction, getAsAction, getAsObservations

Exceptions

std::exception If index is out of bounds

Definition at line 118 of file CRawlog.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ getAsObservation()

CObservationPtr CRawlog::getAsObservation ( size_t index ) const

Returns the i'th element in the sequence, as being an observation, where index=0 is the first object.

If it is not an CObservation, it throws an exception. Do neighter modify nor delete the returned pointer. This is the proper method to obtain the objects stored in a "only observations"-rawlog file (named "format #2" above.

See also: size, isAction, getAsAction

Exceptions

std::exception If index is out of bounds

Definition at line 103 of file CRawlog.cpp.

References CLASS_ID, MRPT_END, MRPT_START, THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

Referenced by mrpt::topography::path_from_rtk_gps().

◆ getAsObservations()

CSensoryFramePtr CRawlog::getAsObservations ( size_t index ) const

Returns the i'th element in the sequence, as being an action, where index=0 is the first object.

If it is not an CSensoryFrame, it throws an exception. Do neighter modify nor delete the returned pointer.

See also: size, isAction, getAsAction, getAsObservation

Exceptions

std::exception If index is out of bounds

Definition at line 147 of file CRawlog.cpp.

References CLASS_ID, MRPT_END, MRPT_START, THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

Referenced by mrpt::detectors::CDetectorDoorCrossing::process().

◆ getCommentText() [1/2]

void CRawlog::getCommentText ( std::string & t ) const

Returns the block of comment text for the rawlog.

Definition at line 563 of file CRawlog.cpp.

◆ getCommentText() [2/2]

std::string CRawlog::getCommentText ( ) const

Returns the block of comment text for the rawlog.

Definition at line 567 of file CRawlog.cpp.

◆ getCommentTextAsConfigFile()

void CRawlog::getCommentTextAsConfigFile ( mrpt::utils::CConfigFileMemory & memCfg ) const

Saves the block of comment text for the rawlog into the passed config file object.

Definition at line 572 of file CRawlog.cpp.

References mrpt::utils::CConfigFileMemory::setContent().

Referenced by mrpt::topography::path_from_rtk_gps().

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::obs::CRawlog::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ getType()

CRawlog::TEntryType CRawlog::getType ( size_t index ) const

Returns the type of a given element.

See also: isAction, isObservation

Definition at line 128 of file CRawlog.cpp.

References CLASS_ID, MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::topography::path_from_rtk_gps().

◆ loadFromRawLogFile()

bool CRawlog::loadFromRawLogFile	(	const std::string &	fileName,
		bool	non_obs_objects_are_legal = `false`
	)

Load the contents from a file containing one of these possibilities:

A "CRawlog" object.
Directly the sequence of objects (pairs CSensoryFrame/CActionCollection or CObservation* objects). In this case the method stops reading on EOF of an unrecogniced class name.
Only if non_obs_objects_are_legal is true, any CSerializable object is allowed in the log file. Otherwise, the read stops on classes different from the ones listed in the item above.
Returns
It returns false upon error reading or accessing the file.

Definition at line 204 of file CRawlog.cpp.

References CLASS_ID, mrpt::utils::clear(), mrpt::utils::CFileGZInputStream::fileOpenCorrectly(), and IS_CLASS.

Referenced by run_test_pf_localization(), and TEST().

◆ moveFrom()

void CRawlog::moveFrom ( CRawlog & obj )

Efficiently copy the contents from other existing object, and remove the data from the origin (after calling this, the original object will have no actions/observations).

Definition at line 309 of file CRawlog.cpp.

References mrpt::utils::clear(), MRPT_END, and MRPT_START.

◆ operator delete() [1/3]

void mrpt::obs::CRawlog::operator delete	(	void *	ptr	)
throw	(
	)

inline

Definition at line 55 of file obs/CRawlog.h.

◆ operator delete() [2/3]

void mrpt::obs::CRawlog::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 55 of file obs/CRawlog.h.

◆ operator delete() [3/3]

void mrpt::obs::CRawlog::operator delete	(	void *	memory,
		void *	ptr
	)
throw	(
	)

inline

Definition at line 55 of file obs/CRawlog.h.

◆ operator delete[]()

void mrpt::obs::CRawlog::operator delete[]	(	void *	ptr	)
throw	(
	)

inline

Definition at line 55 of file obs/CRawlog.h.

◆ operator new() [1/3]

void* mrpt::obs::CRawlog::operator new	(	size_t	size,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 55 of file obs/CRawlog.h.

◆ operator new() [2/3]

static void* mrpt::obs::CRawlog::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 55 of file obs/CRawlog.h.

◆ operator new() [3/3]

void* mrpt::obs::CRawlog::operator new ( size_t size )

inline

Definition at line 55 of file obs/CRawlog.h.

◆ operator new[]()

void* mrpt::obs::CRawlog::operator new[] ( size_t size )

inline

Definition at line 55 of file obs/CRawlog.h.

◆ readActionObservationPair()

bool CRawlog::readActionObservationPair	(	mrpt::utils::CStream &	inStream,
		CActionCollectionPtr &	action,
		CSensoryFramePtr &	observations,
		size_t &	rawlogEntry
	)

static

Reads a consecutive pair action / observation from the rawlog opened at some input stream.

Previous contents of action and observations are discarded (using stlplus::smart_ptr::clear_unique), and at exit they contain the new objects read from the rawlog file. The input/output variable "rawlogEntry" is just a counter of the last rawlog entry read, for logging or monitoring purposes.

Returns: false if there was some error, true otherwise.

See also: getActionObservationPair, getActionObservationPairOrObservation

Definition at line 328 of file CRawlog.cpp.

References CLASS_ID.

◆ readFromStream()

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

protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 180 of file CRawlog.cpp.

References mrpt::utils::clear(), MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

◆ remove() [1/2]

void CRawlog::remove ( size_t index )

Delete the action or observation stored in the given index.

Exceptions

std::exception If index is out of bounds

Definition at line 274 of file CRawlog.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::detectors::CDetectorDoorCrossing::process().

◆ remove() [2/2]

void CRawlog::remove	(	size_t	first_index,
		size_t	last_index
	)

Delete the elements stored in the given range of indices (including both the first and last one).

Exceptions

std::exception If any index is out of bounds

Definition at line 283 of file CRawlog.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ saveToRawLogFile()

bool CRawlog::saveToRawLogFile ( const std::string & fileName ) const

Saves the contents to a rawlog-file, compatible with RawlogViewer (As the sequence of internal objects).

The file is saved with gz-commpressed if MRPT has gz-streams.

Returns: It returns false if any error is found while writing/creating the target file.

Definition at line 292 of file CRawlog.cpp.

References CFileGZOutputStream.

◆ setCommentText()

void CRawlog::setCommentText ( const std::string & t )

Changes the block of comment text for the rawlog.

Definition at line 577 of file CRawlog.cpp.

◆ size()

size_t CRawlog::size ( ) const

Returns the number of actions / observations object in the sequence.

Definition at line 83 of file CRawlog.cpp.

Referenced by mrpt::topography::path_from_rtk_gps(), mrpt::detectors::CDetectorDoorCrossing::process(), run_test_pf_localization(), and TEST().

◆ swap()

void CRawlog::swap ( CRawlog & obj )

Efficiently swap the contents of two existing objects.

Definition at line 321 of file CRawlog.cpp.

◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

◆ writeToStream()

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

protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 161 of file CRawlog.cpp.

References version.

Member Data Documentation

◆ _init_CRawlog

mrpt::utils::CLASSINIT mrpt::obs::CRawlog::_init_CRawlog

staticprotected

Definition at line 55 of file obs/CRawlog.h.

◆ classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 128 of file CObject.h.

◆ classCRawlog

mrpt::utils::TRuntimeClassId mrpt::obs::CRawlog::classCRawlog

static

Definition at line 55 of file obs/CRawlog.h.

◆ classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 42 of file CSerializable.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::obs::CRawlog::classinfo

static

Definition at line 55 of file obs/CRawlog.h.

◆ m_commentTexts

CObservationComment mrpt::obs::CRawlog::m_commentTexts

private

Comments of the rawlog.

Definition at line 61 of file obs/CRawlog.h.

◆ m_seqOfActObs

TListObjects mrpt::obs::CRawlog::m_seqOfActObs

private

The list where the objects really are in.

Definition at line 59 of file obs/CRawlog.h.

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Private Types

Private Attributes

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

◆ TListObjects

Member Enumeration Documentation

◆ TEntryType

Constructor & Destructor Documentation

◆ CRawlog()

◆ ~CRawlog()

Member Function Documentation

◆ _GetBaseClass()

◆ addAction()

◆ addActions()

◆ addActionsMemoryReference()

◆ addGenericObject()

◆ addObservationMemoryReference()

◆ addObservations()

◆ addObservationsMemoryReference()

◆ begin() [1/2]

◆ begin() [2/2]

◆ clear()

◆ clone()

◆ Create()

◆ CreateObject()

◆ detectImagesDirectory()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ end() [1/2]

◆ end() [2/2]

◆ erase()

◆ findObservationsByClassInRange()

◆ getActionObservationPair()

◆ getActionObservationPairOrObservation()

◆ getAsAction()

◆ getAsGeneric()

◆ getAsObservation()

◆ getAsObservations()

◆ getCommentText() [1/2]

◆ getCommentText() [2/2]

◆ getCommentTextAsConfigFile()

◆ GetRuntimeClass()

◆ getType()

◆ loadFromRawLogFile()

◆ moveFrom()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ readActionObservationPair()

◆ readFromStream()

◆ remove() [1/2]

◆ remove() [2/2]

◆ saveToRawLogFile()

◆ setCommentText()

◆ size()

◆ swap()

◆ writeToMatlab()

◆ writeToStream()

Member Data Documentation

◆ _init_CRawlog

◆ classCObject

◆ classCRawlog

◆ classCSerializable

◆ classinfo

◆ m_commentTexts

◆ m_seqOfActObs