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mrpt::obs::CActionRobotMovement2D Class Reference

Detailed Description

Represents a probabilistic 2D movement of the robot mobile base.

See the tutorial on probabilistic motion models.

Note
[New in MRPT 1.5.0] Velocity is now encoded as mrpt::math::TTwist2D as a more general version of the old (linVel, angVel).
See also
CAction

Definition at line 32 of file obs/CActionRobotMovement2D.h.

#include <mrpt/obs/CActionRobotMovement2D.h>

Inheritance diagram for mrpt::obs::CActionRobotMovement2D:
Inheritance graph

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

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 CActionRobotMovement2D ()
 Constructor. More...
 
double velocityLin () const
 
double velocityAng () const
 
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). More...
 
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). More...
 
void drawSingleSample (mrpt::poses::CPose2D &outSample) const
 Using this method instead of "poseChange->drawSingleSample()" may be more efficient in most situations. More...
 
void prepareFastDrawSingleSamples () const
 Call this before calling a high number of times "fastDrawSingleSample", which is much faster than "drawSingleSample". More...
 
void fastDrawSingleSample (mrpt::poses::CPose2D &outSample) const
 Faster version than "drawSingleSample", but requires a previous call to "prepareFastDrawSingleSamples". More...
 
virtual mxArraywriteToMatlab () 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...
 
CObjectclone () const
 Cloning interface for smart pointers. More...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 

Public Attributes

mrpt::utils::poly_ptr_ptr< mrpt::poses::CPosePDFPtr > poseChange
 The 2D pose change probabilistic estimation. More...
 
mrpt::poses::CPose2D rawOdometryIncrementReading
 This is the raw odometry reading, and only is used when "estimationMethod" is "TEstimationMethod::emOdometry". More...
 
TEstimationMethod estimationMethod
 This fields indicates the way in which this estimation was obtained. More...
 
bool hasEncodersInfo
 If "true" means that "encoderLeftTicks" and "encoderRightTicks" contain valid values. More...
 
int32_t encoderLeftTicks
 For odometry only: the ticks count for each wheel FROM the last reading (positive means FORWARD, for both wheels);. More...
 
int32_t encoderRightTicks
 
bool hasVelocities
 If "true" means that "velocityLin" and "velocityAng" contain valid values. More...
 
mrpt::math::TTwist2D velocityLocal
 If "hasVelocities"=true, the robot velocity in local (robot frame, +X forward) coordinates. More...
 
struct OBS_IMPEXP mrpt::obs::CActionRobotMovement2D::TMotionModelOptions motionModelConfiguration
 
mrpt::system::TTimeStamp timestamp
 The associated time-stamp. More...
 

Static Public Attributes

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

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. More...
 
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. More...
 
void drawSingleSample_modelGaussian (mrpt::poses::CPose2D &outSample) const
 The sample generator for the model "computeFromOdometry_modelGaussian", internally called when the user invokes "drawSingleSample". More...
 
void drawSingleSample_modelThrun (mrpt::poses::CPose2D &outSample) const
 The sample generator for the model "computeFromOdometry_modelThrun", internally called when the user invokes "drawSingleSample". More...
 
void prepareFastDrawSingleSample_modelGaussian () const
 Internal use. More...
 
void prepareFastDrawSingleSample_modelThrun () const
 Internal use. More...
 
void fastDrawSingleSample_modelGaussian (mrpt::poses::CPose2D &outSample) const
 Internal use. More...
 
void fastDrawSingleSample_modelThrun (mrpt::poses::CPose2D &outSample) const
 Internal use. More...
 
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...
 

Protected Attributes

mrpt::math::CMatrixDouble33 m_fastDrawGauss_Z
 Auxiliary matrix. More...
 
mrpt::poses::CPose2D m_fastDrawGauss_M
 

RTTI stuff

typedef CActionRobotMovement2DPtr Ptr
 
typedef CActionRobotMovement2DPtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CActionRobotMovement2D
 
static mrpt::utils::TRuntimeClassId classCActionRobotMovement2D
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CActionRobotMovement2DPtr Create ()
 

Member Typedef Documentation

typedef CActionRobotMovement2DPtr mrpt::obs::CActionRobotMovement2D::ConstPtr

Definition at line 35 of file obs/CActionRobotMovement2D.h.

typedef CActionRobotMovement2DPtr mrpt::obs::CActionRobotMovement2D::Ptr

A typedef for the associated smart pointer

Definition at line 35 of file obs/CActionRobotMovement2D.h.

Member Enumeration Documentation

Enumerator
mmGaussian 
mmThrun 

Definition at line 65 of file obs/CActionRobotMovement2D.h.

A list of posible ways for estimating the content of a CActionRobotMovement2D object.

Enumerator
emOdometry 
emScan2DMatching 

Definition at line 40 of file obs/CActionRobotMovement2D.h.

Constructor & Destructor Documentation

CActionRobotMovement2D::CActionRobotMovement2D ( )

Constructor.

Definition at line 32 of file CActionRobotMovement2D.cpp.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::obs::CActionRobotMovement2D::_GetBaseClass ( )
staticprotected
CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

void 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).

Parameters
K_leftThe meters / tick ratio for the left encoder.
K_rightThe meters / tick ratio for the right encoder.
DThe distance between both wheels, in meters.

Definition at line 347 of file CActionRobotMovement2D.cpp.

References R.

void 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).

See also
computeFromOdometry_modelGaussian, computeFromOdometry_modelThrun

Definition at line 378 of file CActionRobotMovement2D.cpp.

References mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::modelSelection.

Referenced by mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_gatherActionsCheckBothActObs(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

void CActionRobotMovement2D::computeFromOdometry_modelGaussian ( const mrpt::poses::CPose2D odometryIncrement,
const TMotionModelOptions o 
)
protected
void CActionRobotMovement2D::computeFromOdometry_modelThrun ( const mrpt::poses::CPose2D odometryIncrement,
const TMotionModelOptions o 
)
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.

See also
computeFromOdometry

Definition at line 469 of file CActionRobotMovement2D.cpp.

References mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::additional_std_phi, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::additional_std_XY, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa1_rot_rot, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa2_rot_trans, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa3_trans_trans, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa4_trans_rot, mrpt::random::CRandomGenerator::drawGaussian1D_normalized(), mrpt::bayes::CParticleFilterData< T >::m_particles, motionModelConfiguration, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::norm(), mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::nParticlesCount, mrpt::poses::CPose2D::phi(), mrpt::utils::poly_ptr_ptr< T >::pointer(), poseChange, mrpt::random::randomGenerator, mrpt::poses::CPosePDFParticles::resetDeterministic(), mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::thrunModel, mrpt::math::wrapToPi(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

static CActionRobotMovement2DPtr mrpt::obs::CActionRobotMovement2D::Create ( )
static
static mrpt::utils::CObject* mrpt::obs::CActionRobotMovement2D::CreateObject ( )
static
void CActionRobotMovement2D::drawSingleSample ( mrpt::poses::CPose2D outSample) const

Using this method instead of "poseChange->drawSingleSample()" may be more efficient in most situations.

See also
CPosePDF::drawSingleSample

Definition at line 514 of file CActionRobotMovement2D.cpp.

References drawSingleSample_modelGaussian(), drawSingleSample_modelThrun(), emOdometry, estimationMethod, mmGaussian, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::modelSelection, motionModelConfiguration, and poseChange.

void CActionRobotMovement2D::drawSingleSample_modelGaussian ( mrpt::poses::CPose2D outSample) const
protected

The sample generator for the model "computeFromOdometry_modelGaussian", internally called when the user invokes "drawSingleSample".

Definition at line 535 of file CActionRobotMovement2D.cpp.

References poseChange.

Referenced by drawSingleSample().

void CActionRobotMovement2D::drawSingleSample_modelThrun ( mrpt::poses::CPose2D outSample) const
protected
virtual mrpt::utils::CObject* mrpt::obs::CActionRobotMovement2D::duplicate ( ) const
virtual

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

Implements mrpt::utils::CObject.

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 mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

void CActionRobotMovement2D::fastDrawSingleSample ( mrpt::poses::CPose2D outSample) const
void CActionRobotMovement2D::fastDrawSingleSample_modelGaussian ( mrpt::poses::CPose2D outSample) const
protected
void CActionRobotMovement2D::fastDrawSingleSample_modelThrun ( mrpt::poses::CPose2D outSample) const
protected

Internal use.

Definition at line 665 of file CActionRobotMovement2D.cpp.

References drawSingleSample_modelThrun().

Referenced by fastDrawSingleSample().

virtual const mrpt::utils::TRuntimeClassId* mrpt::obs::CActionRobotMovement2D::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::obs::CAction.

void mrpt::obs::CActionRobotMovement2D::operator delete ( void ptr)
throw (
)
inline

Definition at line 35 of file obs/CActionRobotMovement2D.h.

void mrpt::obs::CActionRobotMovement2D::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 35 of file obs/CActionRobotMovement2D.h.

void mrpt::obs::CActionRobotMovement2D::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 35 of file obs/CActionRobotMovement2D.h.

void mrpt::obs::CActionRobotMovement2D::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 35 of file obs/CActionRobotMovement2D.h.

static void* mrpt::obs::CActionRobotMovement2D::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 35 of file obs/CActionRobotMovement2D.h.

void* mrpt::obs::CActionRobotMovement2D::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 35 of file obs/CActionRobotMovement2D.h.

void* mrpt::obs::CActionRobotMovement2D::operator new ( size_t  size)
inline

Definition at line 35 of file obs/CActionRobotMovement2D.h.

void* mrpt::obs::CActionRobotMovement2D::operator new[] ( size_t  size)
inline

Definition at line 35 of file obs/CActionRobotMovement2D.h.

void CActionRobotMovement2D::prepareFastDrawSingleSample_modelGaussian ( ) const
protected

Internal use.

Computes the eigenvalues/eigenvector decomposition of this matrix, so that: M = Z · D · ZT, where columns in Z are the eigenvectors and the diagonal matrix D contains the eigenvalues as diagonal elements, sorted in ascending order.

Definition at line 609 of file CActionRobotMovement2D.cpp.

References ASSERT_, mrpt::poses::CPosePDFGaussian::cov, mrpt::math::cov(), IS_CLASS, m_fastDrawGauss_M, m_fastDrawGauss_Z, mrpt::poses::CPosePDFGaussian::mean, MRPT_END, MRPT_START, mrpt::utils::poly_ptr_ptr< T >::pointer(), and poseChange.

Referenced by prepareFastDrawSingleSamples().

void CActionRobotMovement2D::prepareFastDrawSingleSample_modelThrun ( ) const
protected

Internal use.

Definition at line 639 of file CActionRobotMovement2D.cpp.

Referenced by prepareFastDrawSingleSamples().

void CActionRobotMovement2D::prepareFastDrawSingleSamples ( ) const
void CActionRobotMovement2D::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
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any error, see CStream::ReadBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 108 of file CActionRobotMovement2D.cpp.

References INVALID_TIMESTAMP, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and mrpt::utils::CStream::ReadBuffer().

double mrpt::obs::CActionRobotMovement2D::velocityAng ( ) const
inline

Definition at line 63 of file obs/CActionRobotMovement2D.h.

References mrpt::math::TTwist2D::omega.

double mrpt::obs::CActionRobotMovement2D::velocityLin ( ) const
inline

Definition at line 62 of file obs/CActionRobotMovement2D.h.

References mrpt::math::TTwist2D::vx.

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.

References BASE_IMPEXP, DEFINE_MRPT_OBJECT_POST, mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), mrpt::utils::OctetVectorToObject(), mrpt::utils::RawStringToObject(), and mrpt::utils::StringToObject().

Referenced by mrpt::poses::operator<<(), mrpt::utils::TCamera::readFromStream(), mrpt::obs::CObservationImage::readFromStream(), mrpt::obs::CObservationStereoImages::readFromStream(), mrpt::obs::CObservation2DRangeScan::readFromStream(), and mrpt::utils::CImage::readFromStream().

void CActionRobotMovement2D::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
outThe output binary stream where object must be dumped.
getVersionIf 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::exceptionOn any error, see CStream::WriteBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 50 of file CActionRobotMovement2D.cpp.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::obs::CActionRobotMovement2D::_init_CActionRobotMovement2D
staticprotected

Definition at line 35 of file obs/CActionRobotMovement2D.h.

const mrpt::utils::TRuntimeClassId mrpt::obs::CAction::classCAction
staticinherited

Definition at line 36 of file obs/CAction.h.

mrpt::utils::TRuntimeClassId mrpt::obs::CActionRobotMovement2D::classCActionRobotMovement2D
static

Definition at line 35 of file obs/CActionRobotMovement2D.h.

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

Definition at line 128 of file CObject.h.

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

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::obs::CActionRobotMovement2D::classinfo
static

Definition at line 35 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);.

See also
hasEncodersInfo

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.

Referenced by drawSingleSample(), fastDrawSingleSample(), and prepareFastDrawSingleSamples().

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.

mrpt::poses::CPose2D mrpt::obs::CActionRobotMovement2D::m_fastDrawGauss_M
mutableprotected
mrpt::math::CMatrixDouble33 mrpt::obs::CActionRobotMovement2D::m_fastDrawGauss_Z
mutableprotected
struct OBS_IMPEXP mrpt::obs::CActionRobotMovement2D::TMotionModelOptions mrpt::obs::CActionRobotMovement2D::motionModelConfiguration
mrpt::utils::poly_ptr_ptr<mrpt::poses::CPosePDFPtr> mrpt::obs::CActionRobotMovement2D::poseChange
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.

Referenced by drawSingleSample_modelThrun(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal().

mrpt::system::TTimeStamp mrpt::obs::CAction::timestamp
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.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

mrpt::math::TTwist2D mrpt::obs::CActionRobotMovement2D::velocityLocal

If "hasVelocities"=true, the robot velocity in local (robot frame, +X forward) coordinates.

Definition at line 60 of file obs/CActionRobotMovement2D.h.




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