MRPT  2.0.4
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mrpt::kinematics::CVehicleVelCmd Class Referenceabstract

Detailed Description

Virtual base for velocity commands of different kinematic models of planar mobile robot.

Definition at line 20 of file CVehicleVelCmd.h.

#include <mrpt/kinematics/CVehicleVelCmd.h>

Inheritance diagram for mrpt::kinematics::CVehicleVelCmd:

Classes

struct  TVelCmdParams
 Parameters that may be used by cmdVel_limits() in any derived classes. More...
 

Public Types

using UniquePtr = std::unique_ptr< CObject >
 
using ConstUniquePtr = std::unique_ptr< const CObject >
 

Public Member Functions

 CVehicleVelCmd ()
 
 CVehicleVelCmd (const CVehicleVelCmd &other)
 
 ~CVehicleVelCmd () override
 
CVehicleVelCmdoperator= (const CVehicleVelCmd &other)
 
virtual size_t getVelCmdLength () const =0
 Get number of components in each velocity command. More...
 
virtual std::string getVelCmdDescription (const int index) const =0
 Get textual, human-readable description of each velocity command component. More...
 
virtual double getVelCmdElement (const int index) const =0
 Get each velocity command component. More...
 
virtual void setVelCmdElement (const int index, const double val)=0
 Set each velocity command component. More...
 
virtual bool isStopCmd () const =0
 Returns true if the command means "do not move" / "stop". More...
 
virtual void setToStop ()=0
 Set to a command that means "do not move" / "stop". More...
 
std::string asString () const
 Returns a human readable description of the cmd. More...
 
virtual void cmdVel_scale (double vel_scale)=0
 Scale the velocity command encoded in this object. More...
 
virtual double cmdVel_limits (const mrpt::kinematics::CVehicleVelCmd &prev_vel_cmd, const double beta, const TVelCmdParams &params)=0
 Updates this command, computing a blended version of beta (within [0,1]) of vel_cmd and 1-beta of prev_vel_cmd, simultaneously to honoring any user-side maximum velocities. 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...
 
virtual CObjectclone () const =0
 Returns a deep copy (clone) of the object, indepently of its class. More...
 
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr duplicateGetSmartPtr () const
 Makes a deep copy of the object and returns a smart pointer to it. More...
 

Protected Member Functions

CSerializable virtual methods
virtual uint8_t serializeGetVersion () const =0
 Must return the current versioning number of the object. More...
 
virtual void serializeTo (CArchive &out) const =0
 Pure virtual method for writing (serializing) to an abstract archive. More...
 
virtual void serializeTo (CSchemeArchiveBase &out) const
 Virtual method for writing (serializing) to an abstract schema based archive. More...
 
virtual void serializeFrom (CArchive &in, uint8_t serial_version)=0
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 
virtual void serializeFrom (CSchemeArchiveBase &in)
 Virtual method for reading (deserializing) from an abstract schema based archive. More...
 

RTTI stuff

using Ptr = std::shared_ptr< CVehicleVelCmd >
 
using ConstPtr = std::shared_ptr< const CVehicleVelCmd >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 

Member Typedef Documentation

◆ ConstPtr

Definition at line 22 of file CVehicleVelCmd.h.

◆ ConstUniquePtr

using mrpt::rtti::CObject::ConstUniquePtr = std::unique_ptr<const CObject>
inherited

Definition at line 187 of file CObject.h.

◆ Ptr

Definition at line 22 of file CVehicleVelCmd.h.

◆ UniquePtr

using mrpt::rtti::CObject::UniquePtr = std::unique_ptr<CObject>
inherited

Definition at line 186 of file CObject.h.

Constructor & Destructor Documentation

◆ CVehicleVelCmd() [1/2]

CVehicleVelCmd::CVehicleVelCmd ( )
default

◆ CVehicleVelCmd() [2/2]

CVehicleVelCmd::CVehicleVelCmd ( const CVehicleVelCmd other)

Definition at line 20 of file CVehicleVelCmd.cpp.

◆ ~CVehicleVelCmd()

CVehicleVelCmd::~CVehicleVelCmd ( )
overridedefault

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::kinematics::CVehicleVelCmd::_GetBaseClass ( )
staticprotected

◆ asString()

std::string mrpt::kinematics::CVehicleVelCmd::asString ( ) const

Returns a human readable description of the cmd.

Definition at line 22 of file CVehicleVelCmd.cpp.

References mrpt::format().

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◆ clone()

virtual CObject* mrpt::rtti::CObject::clone ( ) const
pure virtualinherited

Returns a deep copy (clone) of the object, indepently of its class.

Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::img::CImage, mrpt::maps::CMultiMetricMap, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::obs::CObservationVelodyneScan, mrpt::maps::TMapGenericParams, mrpt::maps::CRandomFieldGridMap3D, mrpt::hmtslam::THypothesisIDSet, mrpt::detectors::CDetectable3D, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::opengl::COctoMapVoxels, mrpt::kinematics::CKinematicChain, mrpt::obs::CObservationGPS, mrpt::maps::CMultiMetricMapPDF, mrpt::maps::CHeightGridMap2D, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::obs::CObservationRotatingScan, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::opengl::COpenGLScene, mrpt::slam::CIncrementalMapPartitioner, mrpt::vision::CFeature, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservation2DRangeScan, mrpt::opengl::CFrustum, mrpt::nav::CHolonomicND, mrpt::obs::CSensoryFrame, mrpt::poses::CPose2DInterpolator, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CPointCloud, mrpt::opengl::CPointCloudColoured, mrpt::poses::CPose3DQuat, mrpt::opengl::CPolyhedron, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::detectors::CDetectable2D, mrpt::maps::CBeaconMap, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CText3D, mrpt::maps::COctoMap, mrpt::opengl::CBox, mrpt::opengl::CEllipsoid2D, mrpt::poses::CPose2D, mrpt::maps::CReflectivityGridMap2D, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CEllipsoid3D, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DPDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::obs::CObservationStereoImages, mrpt::opengl::CMesh, mrpt::opengl::CMeshFast, mrpt::poses::CPosePDFParticles, MyNS::Bar, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::opengl::CMesh3D, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFParticles, mrpt::hmtslam::CMHPropertiesValuesList, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CColorBar, mrpt::maps::CBeacon, mrpt::maps::COccupancyGridMap3D, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::opengl::CText, mrpt::maps::CRBPFParticleData, mrpt::maps::CLandmark, mrpt::maps::CHeightGridMap2D_MRF, mrpt::opengl::CCamera, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::obs::CObservationPointCloud, mrpt::opengl::CSetOfLines, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::poses::CPoint3D, mrpt::poses::CPose3DPDFSOG, mrpt::obs::CObservationBatteryState, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::CSimplePointsMap, mrpt::obs::CActionRobotMovement2D, mrpt::opengl::CDisk, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CAxis, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CSphere, mrpt::poses::CPointPDFParticles, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::poses::CPosePDFGaussian, MyNS::MyDerived2, mrpt::obs::CObservationRange, mrpt::img::TCamera, mrpt::maps::CPointsMapXYZI, mrpt::nav::CMultiObjMotionOpt_Scalarization, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfObjects, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::poses::CPose3DPDFGrid, mrpt::obs::CObservationVisualLandmarks, mrpt::math::CMatrixD, mrpt::math::CSplineInterpolator1D, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::poses::CPosePDFGrid, mrpt::poses::CPoses2DSequence, mrpt::img::TStereoCamera, mrpt::poses::CPoses3DSequence, mrpt::math::CMatrixF, mrpt::opengl::CSetOfTriangles, mrpt::poses::CPointPDFGaussian, mrpt::hmtslam::CPropertiesValuesList, mrpt::math::CMatrixB, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CSetOfTexturedTriangles, MyNS::MyDerived1, mrpt::math::CPolygon, mrpt::opengl::CTexturedPlane, mrpt::poses::CPoint2DPDFGaussian, MyNS::Foo, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, mrpt::opengl::CSimpleLine, and MyNS::Foo.

Referenced by mrpt::rtti::CObject::duplicateGetSmartPtr(), mrpt::maps::CSimpleMap::insert(), mrpt::obs::CActionCollection::insert(), and mrpt::poses::CPoseRandomSampler::setPosePDF().

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◆ cmdVel_limits()

virtual double mrpt::kinematics::CVehicleVelCmd::cmdVel_limits ( const mrpt::kinematics::CVehicleVelCmd prev_vel_cmd,
const double  beta,
const TVelCmdParams params 
)
pure virtual

Updates this command, computing a blended version of beta (within [0,1]) of vel_cmd and 1-beta of prev_vel_cmd, simultaneously to honoring any user-side maximum velocities.

Returns
The [0,1] ratio that the cmdvel had to be scaled down, or 1.0 if none.

Implemented in mrpt::kinematics::CVehicleVelCmd_Holo, and mrpt::kinematics::CVehicleVelCmd_DiffDriven.

◆ cmdVel_scale()

virtual void mrpt::kinematics::CVehicleVelCmd::cmdVel_scale ( double  vel_scale)
pure virtual

Scale the velocity command encoded in this object.

Parameters
[in]vel_scaleA scale within [0,1] reflecting how much should be the raw velocity command be lessen (e.g. for safety reasons,...).
[out]out_vel_cmdUsers can directly inherit from existing implementations instead of manually redefining this method:

Implemented in mrpt::kinematics::CVehicleVelCmd_Holo, and mrpt::kinematics::CVehicleVelCmd_DiffDriven.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::kinematics::CVehicleVelCmd::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

Reimplemented in mrpt::kinematics::CVehicleVelCmd_DiffDriven, and mrpt::kinematics::CVehicleVelCmd_Holo.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::kinematics::CVehicleVelCmd::GetRuntimeClassIdStatic ( )
static

◆ getVelCmdDescription()

virtual std::string mrpt::kinematics::CVehicleVelCmd::getVelCmdDescription ( const int  index) const
pure virtual

Get textual, human-readable description of each velocity command component.

Implemented in mrpt::kinematics::CVehicleVelCmd_Holo, and mrpt::kinematics::CVehicleVelCmd_DiffDriven.

◆ getVelCmdElement()

virtual double mrpt::kinematics::CVehicleVelCmd::getVelCmdElement ( const int  index) const
pure virtual

Get each velocity command component.

Implemented in mrpt::kinematics::CVehicleVelCmd_Holo, and mrpt::kinematics::CVehicleVelCmd_DiffDriven.

Referenced by operator=().

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◆ getVelCmdLength()

virtual size_t mrpt::kinematics::CVehicleVelCmd::getVelCmdLength ( ) const
pure virtual

Get number of components in each velocity command.

Implemented in mrpt::kinematics::CVehicleVelCmd_Holo, and mrpt::kinematics::CVehicleVelCmd_DiffDriven.

Referenced by operator=().

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◆ isStopCmd()

virtual bool mrpt::kinematics::CVehicleVelCmd::isStopCmd ( ) const
pure virtual

Returns true if the command means "do not move" / "stop".

See also
setToStop

Implemented in mrpt::kinematics::CVehicleVelCmd_Holo, and mrpt::kinematics::CVehicleVelCmd_DiffDriven.

◆ operator=()

CVehicleVelCmd & CVehicleVelCmd::operator= ( const CVehicleVelCmd other)

Definition at line 35 of file CVehicleVelCmd.cpp.

References ASSERTMSG_, getVelCmdElement(), getVelCmdLength(), and setVelCmdElement().

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◆ serializeFrom() [1/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CArchive in,
uint8_t  serial_version 
)
protectedpure virtualinherited

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

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 I/O error

Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::img::CImage, mrpt::maps::CMultiMetricMap, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::obs::CObservationVelodyneScan, mrpt::maps::TMapGenericParams, mrpt::maps::CRandomFieldGridMap3D, mrpt::hmtslam::THypothesisIDSet, mrpt::detectors::CDetectable3D, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::opengl::COctoMapVoxels, mrpt::kinematics::CKinematicChain, mrpt::obs::CObservationGPS, mrpt::maps::CMultiMetricMapPDF, mrpt::maps::CHeightGridMap2D, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::obs::CObservationRotatingScan, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::opengl::COpenGLScene, mrpt::slam::CIncrementalMapPartitioner, mrpt::vision::CFeature, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservation2DRangeScan, mrpt::opengl::CFrustum, mrpt::nav::CHolonomicND, mrpt::obs::CSensoryFrame, mrpt::poses::CPose2DInterpolator, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CPointCloud, mrpt::opengl::CPointCloudColoured, mrpt::poses::CPose3DQuat, mrpt::opengl::CPolyhedron, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::detectors::CDetectable2D, mrpt::maps::CBeaconMap, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CText3D, mrpt::maps::COctoMap, mrpt::opengl::CBox, mrpt::opengl::CEllipsoid2D, mrpt::poses::CPose2D, mrpt::maps::CReflectivityGridMap2D, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CEllipsoid3D, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DPDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::obs::CObservationStereoImages, mrpt::opengl::CMesh, mrpt::opengl::CMeshFast, mrpt::poses::CPosePDFParticles, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::opengl::CMesh3D, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFParticles, mrpt::hmtslam::CMHPropertiesValuesList, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CColorBar, mrpt::maps::CBeacon, mrpt::maps::COccupancyGridMap3D, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::opengl::CText, mrpt::maps::CRBPFParticleData, mrpt::maps::CLandmark, mrpt::maps::CHeightGridMap2D_MRF, mrpt::opengl::CCamera, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::obs::CObservationPointCloud, mrpt::opengl::CSetOfLines, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::poses::CPoint3D, mrpt::poses::CPose3DPDFSOG, mrpt::obs::CObservationBatteryState, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::CSimplePointsMap, mrpt::obs::CActionRobotMovement2D, mrpt::opengl::CDisk, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CAxis, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CSphere, mrpt::poses::CPointPDFParticles, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::poses::CPosePDFGaussian, mrpt::obs::CObservationRange, mrpt::img::TCamera, mrpt::maps::CPointsMapXYZI, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfObjects, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::poses::CPose3DPDFGrid, mrpt::obs::CObservationVisualLandmarks, mrpt::math::CMatrixD, mrpt::math::CSplineInterpolator1D, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::poses::CPosePDFGrid, mrpt::poses::CPoses2DSequence, mrpt::img::TStereoCamera, mrpt::poses::CPoses3DSequence, mrpt::math::CMatrixF, mrpt::opengl::CSetOfTriangles, mrpt::poses::CPointPDFGaussian, mrpt::hmtslam::CPropertiesValuesList, mrpt::math::CMatrixB, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CPolygon, mrpt::opengl::CTexturedPlane, mrpt::poses::CPoint2DPDFGaussian, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, mrpt::opengl::CSimpleLine, and MyNS::Foo.

Referenced by mrpt::serialization::CArchive::internal_ReadObject(), and mrpt::serialization::CSchemeArchiveBase::WriteObject().

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◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase in)
inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

virtual uint8_t mrpt::serialization::CSerializable::serializeGetVersion ( ) const
protectedpure virtualinherited

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::img::CImage, mrpt::maps::CMultiMetricMap, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::obs::CObservationVelodyneScan, mrpt::maps::TMapGenericParams, mrpt::maps::CRandomFieldGridMap3D, mrpt::hmtslam::THypothesisIDSet, mrpt::detectors::CDetectable3D, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::opengl::COctoMapVoxels, mrpt::kinematics::CKinematicChain, mrpt::obs::CObservationGPS, mrpt::maps::CMultiMetricMapPDF, mrpt::maps::CHeightGridMap2D, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::obs::CObservationRotatingScan, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::opengl::COpenGLScene, mrpt::slam::CIncrementalMapPartitioner, mrpt::vision::CFeature, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservation2DRangeScan, mrpt::opengl::CFrustum, mrpt::nav::CHolonomicND, mrpt::obs::CSensoryFrame, mrpt::poses::CPose2DInterpolator, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CPointCloud, mrpt::opengl::CPointCloudColoured, mrpt::poses::CPose3DQuat, mrpt::opengl::CPolyhedron, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::detectors::CDetectable2D, mrpt::maps::CBeaconMap, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CText3D, mrpt::maps::COctoMap, mrpt::opengl::CBox, mrpt::opengl::CEllipsoid2D, mrpt::poses::CPose2D, mrpt::maps::CReflectivityGridMap2D, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CEllipsoid3D, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DPDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::obs::CObservationStereoImages, mrpt::opengl::CMesh, mrpt::opengl::CMeshFast, mrpt::poses::CPosePDFParticles, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::opengl::CMesh3D, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFParticles, mrpt::hmtslam::CMHPropertiesValuesList, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CColorBar, mrpt::maps::CBeacon, mrpt::maps::COccupancyGridMap3D, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::opengl::CText, mrpt::maps::CRBPFParticleData, mrpt::maps::CLandmark, mrpt::maps::CHeightGridMap2D_MRF, mrpt::opengl::CCamera, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::obs::CObservationPointCloud, mrpt::opengl::CSetOfLines, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::poses::CPoint3D, mrpt::poses::CPose3DPDFSOG, mrpt::obs::CObservationBatteryState, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::CSimplePointsMap, mrpt::obs::CActionRobotMovement2D, mrpt::opengl::CDisk, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CAxis, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CSphere, mrpt::poses::CPointPDFParticles, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::poses::CPosePDFGaussian, mrpt::obs::CObservationRange, mrpt::img::TCamera, mrpt::maps::CPointsMapXYZI, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfObjects, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::poses::CPose3DPDFGrid, mrpt::obs::CObservationVisualLandmarks, mrpt::math::CMatrixD, mrpt::math::CSplineInterpolator1D, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::poses::CPosePDFGrid, mrpt::poses::CPoses2DSequence, mrpt::img::TStereoCamera, mrpt::poses::CPoses3DSequence, mrpt::math::CMatrixF, mrpt::opengl::CSetOfTriangles, mrpt::poses::CPointPDFGaussian, mrpt::hmtslam::CPropertiesValuesList, mrpt::math::CMatrixB, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CPolygon, mrpt::opengl::CTexturedPlane, mrpt::poses::CPoint2DPDFGaussian, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, mrpt::opengl::CSimpleLine, and MyNS::Foo.

Referenced by mrpt::serialization::CArchive::WriteObject().

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◆ serializeTo() [1/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CArchive out) const
protectedpure virtualinherited

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions
std::exceptionOn any I/O error

Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::img::CImage, mrpt::maps::CMultiMetricMap, mrpt::obs::CObservationIMU, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::obs::CObservationVelodyneScan, mrpt::maps::TMapGenericParams, mrpt::maps::CRandomFieldGridMap3D, mrpt::hmtslam::THypothesisIDSet, mrpt::detectors::CDetectable3D, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::opengl::COctoMapVoxels, mrpt::kinematics::CKinematicChain, mrpt::obs::CObservationGPS, mrpt::maps::CMultiMetricMapPDF, mrpt::maps::CHeightGridMap2D, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::obs::CObservationRotatingScan, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::opengl::COpenGLScene, mrpt::slam::CIncrementalMapPartitioner, mrpt::vision::CFeature, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservation2DRangeScan, mrpt::opengl::CFrustum, mrpt::nav::CHolonomicND, mrpt::obs::CSensoryFrame, mrpt::poses::CPose2DInterpolator, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CPointCloud, mrpt::opengl::CPointCloudColoured, mrpt::poses::CPose3DQuat, mrpt::opengl::CPolyhedron, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::detectors::CDetectable2D, mrpt::maps::CBeaconMap, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CAssimpModel, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CText3D, mrpt::maps::COctoMap, mrpt::opengl::CBox, mrpt::opengl::CEllipsoid2D, mrpt::poses::CPose2D, mrpt::maps::CReflectivityGridMap2D, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CEllipsoid3D, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CVectorField3D, mrpt::poses::CPose3DPDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::obs::CObservationStereoImages, mrpt::opengl::CMesh, mrpt::opengl::CMeshFast, mrpt::poses::CPosePDFParticles, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::opengl::CMesh3D, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFParticles, mrpt::hmtslam::CMHPropertiesValuesList, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CColorBar, mrpt::maps::CBeacon, mrpt::maps::COccupancyGridMap3D, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::opengl::CText, mrpt::maps::CRBPFParticleData, mrpt::maps::CLandmark, mrpt::maps::CHeightGridMap2D_MRF, mrpt::opengl::CCamera, mrpt::poses::CPosePDFGaussianInf, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::obs::CObservationPointCloud, mrpt::opengl::CSetOfLines, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::poses::CPoint3D, mrpt::poses::CPose3DPDFSOG, mrpt::obs::CObservationBatteryState, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::CSimplePointsMap, mrpt::obs::CActionRobotMovement2D, mrpt::opengl::CDisk, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CAxis, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CSphere, mrpt::poses::CPointPDFParticles, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::poses::CPosePDFGaussian, mrpt::obs::CObservationRange, mrpt::img::TCamera, mrpt::maps::CPointsMapXYZI, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfObjects, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::poses::CPose3DPDFGrid, mrpt::obs::CObservationVisualLandmarks, mrpt::math::CMatrixD, mrpt::math::CSplineInterpolator1D, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::poses::CPosePDFGrid, mrpt::poses::CPoses2DSequence, mrpt::img::TStereoCamera, mrpt::poses::CPoses3DSequence, mrpt::math::CMatrixF, mrpt::opengl::CSetOfTriangles, mrpt::poses::CPointPDFGaussian, mrpt::hmtslam::CPropertiesValuesList, mrpt::math::CMatrixB, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CPolygon, mrpt::opengl::CTexturedPlane, mrpt::poses::CPoint2DPDFGaussian, mrpt::kinematics::CVehicleVelCmd_DiffDriven, mrpt::kinematics::CVehicleVelCmd_Holo, mrpt::opengl::CSimpleLine, and MyNS::Foo.

Referenced by mrpt::serialization::CSchemeArchiveBase::ReadObject(), and mrpt::serialization::CArchive::WriteObject().

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◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase out) const
inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ setToStop()

virtual void mrpt::kinematics::CVehicleVelCmd::setToStop ( )
pure virtual

Set to a command that means "do not move" / "stop".

See also
isStopCmd

Implemented in mrpt::kinematics::CVehicleVelCmd_Holo, and mrpt::kinematics::CVehicleVelCmd_DiffDriven.

◆ setVelCmdElement()

virtual void mrpt::kinematics::CVehicleVelCmd::setVelCmdElement ( const int  index,
const double  val 
)
pure virtual

Set each velocity command component.

Implemented in mrpt::kinematics::CVehicleVelCmd_Holo, and mrpt::kinematics::CVehicleVelCmd_DiffDriven.

Referenced by operator=().

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::kinematics::CVehicleVelCmd::runtimeClassId
staticprotected

Definition at line 22 of file CVehicleVelCmd.h.




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