Detailed Description

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

See also: CReactiveNavigationSystem, CHolonomicLogFileRecord

Definition at line 29 of file CLogFileRecord.h.

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

Inheritance diagram for mrpt::nav::CLogFileRecord:

Classes
struct	TInfoPerPTG
	The structure used to store all relevant information about each transformation into TP-Space. More...

Public Member Functions
	CLogFileRecord ()
	Constructor, builds an empty record. 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...

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...

Public Attributes
mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState	navDynState

uint32_t	nPTGs {0}
	The number of PTGS: More...

std::vector< TInfoPerPTG >	infoPerPTG
	The info for each applied PTG: must contain "nPTGs * nSecDistances" elements. More...

int32_t	nSelectedPTG {-1}
	The selected PTG. More...

std::map< std::string, double >	values
	Known values: More...

std::map< std::string, mrpt::system::TTimeStamp >	timestamps
	Known values: More...

std::map< std::string, std::string >	additional_debug_msgs
	Additional debug traces. More...

mrpt::maps::CSimplePointsMap	WS_Obstacles
	The WS-Obstacles. More...

mrpt::maps::CSimplePointsMap	WS_Obstacles_original

mrpt::math::TPose2D	robotPoseLocalization
	The robot pose (from odometry and from the localization/SLAM system). More...

mrpt::math::TPose2D	robotPoseOdometry

mrpt::math::TPose2D	relPoseSense

mrpt::math::TPose2D	relPoseVelCmd

std::vector< mrpt::math::TPose2D >	WS_targets_relative
	Relative poses (wrt to robotPoseLocalization) for. More...

mrpt::kinematics::CVehicleVelCmd::Ptr	cmd_vel
	The final motion command sent to robot, in "m/sec" and "rad/sec". More...

mrpt::kinematics::CVehicleVelCmd::Ptr	cmd_vel_original
	Motion command as comes out from the PTG, before scaling speed limit filtering. More...

mrpt::math::TTwist2D	cur_vel
	The actual robot velocities in global (map) coordinates, as read from sensors, in "m/sec" and "rad/sec". More...

mrpt::math::TTwist2D	cur_vel_local
	The actual robot velocities in local (robot) coordinates, as read from sensors, in "m/sec" and "rad/sec". More...

mrpt::math::CVectorFloat	robotShape_x
	The robot shape in WS. More...

mrpt::math::CVectorFloat	robotShape_y

double	robotShape_radius {.0}
	The circular robot radius. More...

int16_t	ptg_index_NOP {-1}
	Negative means no NOP mode evaluation, so the rest of "NOP variables" should be ignored. More...

uint16_t	ptg_last_k_NOP {0}

mrpt::math::TPose2D	rel_cur_pose_wrt_last_vel_cmd_NOP

mrpt::math::TPose2D	rel_pose_PTG_origin_wrt_sense_NOP

mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState	ptg_last_navDynState

Protected Member Functions
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based 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< mrpt::nav ::CLogFileRecord >

using	ConstPtr = std::shared_ptr< const mrpt::nav ::CLogFileRecord >

using	UniquePtr = std::unique_ptr< mrpt::nav ::CLogFileRecord >

using	ConstUniquePtr = std::unique_ptr< const mrpt::nav ::CLogFileRecord >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::nav" "::" "CLogFileRecord"

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

static constexpr auto	getClassName ()

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

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

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

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::nav::CLogFileRecord::ConstPtr = std::shared_ptr<const mrpt::nav :: CLogFileRecord >

Definition at line 31 of file CLogFileRecord.h.

◆ ConstUniquePtr

using mrpt::nav::CLogFileRecord::ConstUniquePtr = std::unique_ptr<const mrpt::nav :: CLogFileRecord >

Definition at line 31 of file CLogFileRecord.h.

◆ Ptr

using mrpt::nav::CLogFileRecord::Ptr = std::shared_ptr< mrpt::nav :: CLogFileRecord >

A type for the associated smart pointer

Definition at line 31 of file CLogFileRecord.h.

◆ UniquePtr

using mrpt::nav::CLogFileRecord::UniquePtr = std::unique_ptr< mrpt::nav :: CLogFileRecord >

Definition at line 31 of file CLogFileRecord.h.

Constructor & Destructor Documentation

◆ CLogFileRecord()

CLogFileRecord::CLogFileRecord ( )

Constructor, builds an empty record.

Definition at line 26 of file CLogFileRecord.cpp.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ clone()

virtual mrpt::rtti::CObject* mrpt::nav::CLogFileRecord::clone ( ) const

overridevirtual

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

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::nav::CLogFileRecord::Create ( Args &&... args )

inlinestatic

Definition at line 31 of file CLogFileRecord.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::nav::CLogFileRecord::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 31 of file CLogFileRecord.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::nav::CLogFileRecord::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::nav::CLogFileRecord::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 31 of file CLogFileRecord.h.

◆ 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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◆ getClassName()

static constexpr auto mrpt::nav::CLogFileRecord::getClassName ( )

inlinestatic

Definition at line 31 of file CLogFileRecord.h.

◆ GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::nav::CLogFileRecord::GetRuntimeClassIdStatic ( )

static

◆ serializeFrom() [1/2]

void CLogFileRecord::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

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

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

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 I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 135 of file CLogFileRecord.cpp.

References additional_debug_msgs, mrpt::poses::CPose2D::asTPose(), mrpt::math::CVectorDynamic< T >::begin(), cmd_vel, cmd_vel_original, cur_vel, cur_vel_local, mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::curVelLocal, mrpt::format(), infoPerPTG, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, navDynState, nPTGs, nSelectedPTG, ptg_index_NOP, ptg_last_k_NOP, ptg_last_navDynState, mrpt::serialization::CArchive::ReadAsAndCastTo(), mrpt::serialization::CArchive::ReadBufferFixEndianness(), mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::readFromStream(), mrpt::serialization::CArchive::ReadObject(), rel_cur_pose_wrt_last_vel_cmd_NOP, rel_pose_PTG_origin_wrt_sense_NOP, relPoseSense, relPoseVelCmd, mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::relTarget, mrpt::math::CVectorDynamic< T >::resize(), robotPoseLocalization, robotPoseOdometry, robotShape_radius, robotShape_x, robotShape_y, timestamps, values, WS_Obstacles, WS_Obstacles_original, and WS_targets_relative.

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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()

uint8_t CLogFileRecord::serializeGetVersion ( ) const

overrideprotectedvirtual

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.

Implements mrpt::serialization::CSerializable.

Definition at line 42 of file CLogFileRecord.cpp.

◆ serializeTo() [1/2]

void CLogFileRecord::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

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

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

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 43 of file CLogFileRecord.cpp.

References additional_debug_msgs, mrpt::math::CVectorDynamic< T >::begin(), cmd_vel, cmd_vel_original, cur_vel, cur_vel_local, infoPerPTG, navDynState, nPTGs, nSelectedPTG, out, ptg_index_NOP, ptg_last_k_NOP, ptg_last_navDynState, rel_cur_pose_wrt_last_vel_cmd_NOP, rel_pose_PTG_origin_wrt_sense_NOP, relPoseSense, relPoseVelCmd, robotPoseLocalization, robotPoseOdometry, robotShape_radius, robotShape_x, robotShape_y, mrpt::math::CVectorDynamic< T >::size(), timestamps, values, mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::writeToStream(), WS_Obstacles, WS_Obstacles_original, and WS_targets_relative.

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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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◆ 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.