Detailed Description

This class stores a sequence of relative, incremental 3D poses.

It is useful as the bases storing unit for more complex probability particles and for computing the absolute pose of any intermediate pose.

See also: CPose3D, CMultiMetricMap

Definition at line 23 of file CPoses3DSequence.h.

#include <mrpt/poses/CPoses3DSequence.h>

Inheritance diagram for mrpt::poses::CPoses3DSequence:

Public Member Functions
size_t	posesCount ()
	Returns the poses count in the sequence: More...

void	getPose (unsigned int ind, CPose3D &outPose)
	Reads the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1". More...

void	changePose (unsigned int ind, CPose3D &inPose)
	Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1". More...

void	appendPose (CPose3D &newPose)
	Appends a new pose at the end of sequence. More...

void	clear ()
	Clears the sequence. More...

CPose3D	absolutePoseOf (unsigned int n)
	Returns the absolute pose of a robot after moving "n" poses, so for "n=0" the origin pose (0,0,0deg) is returned, for "n=1" the first pose is returned, and for "n=posesCount()", the pose of robot after moving ALL poses is returned, all of them relative to the starting pose. More...

CPose3D	absolutePoseAfterAll ()
	A shortcut for "absolutePoseOf( posesCount() )". More...

double	computeTraveledDistanceAfter (size_t n)
	Returns the traveled distance after moving "n" poses, so for "n=0" it returns 0, for "n=1" the first traveled distance, and for "n=posesCount()", the total distance after ALL movements. More...

double	computeTraveledDistanceAfterAll ()
	Returns the traveled distance after ALL movements. 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...

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...

Private Attributes
std::vector< mrpt::math::TPose3D >	m_poses
	The internal sequence of poses, stored as relative, incremental poses, thus each one is situated just at the end point of last one, where the first one is referenced to (0,0,0deg) More...

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::poses ::CPoses3DSequence >

using	ConstPtr = std::shared_ptr< const mrpt::poses ::CPoses3DSequence >

using	UniquePtr = std::unique_ptr< mrpt::poses ::CPoses3DSequence >

using	ConstUniquePtr = std::unique_ptr< const mrpt::poses ::CPoses3DSequence >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "mrpt::poses" "::" "CPoses3DSequence"

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::poses::CPoses3DSequence::ConstPtr = std::shared_ptr<const mrpt::poses :: CPoses3DSequence >

Definition at line 25 of file CPoses3DSequence.h.

◆ ConstUniquePtr

using mrpt::poses::CPoses3DSequence::ConstUniquePtr = std::unique_ptr<const mrpt::poses :: CPoses3DSequence >

Definition at line 25 of file CPoses3DSequence.h.

◆ Ptr

using mrpt::poses::CPoses3DSequence::Ptr = std::shared_ptr< mrpt::poses :: CPoses3DSequence >

A type for the associated smart pointer

Definition at line 25 of file CPoses3DSequence.h.

◆ UniquePtr

using mrpt::poses::CPoses3DSequence::UniquePtr = std::unique_ptr< mrpt::poses :: CPoses3DSequence >

Definition at line 25 of file CPoses3DSequence.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPoses3DSequence::_GetBaseClass ( )

staticprotected

◆ absolutePoseAfterAll()

CPose3D CPoses3DSequence::absolutePoseAfterAll ( )

A shortcut for "absolutePoseOf( posesCount() )".

See also: absolutePoseOf, posesCount

Definition at line 103 of file CPoses3DSequence.cpp.

◆ absolutePoseOf()

CPose3D CPoses3DSequence::absolutePoseOf ( unsigned int n )

Returns the absolute pose of a robot after moving "n" poses, so for "n=0" the origin pose (0,0,0deg) is returned, for "n=1" the first pose is returned, and for "n=posesCount()", the pose of robot after moving ALL poses is returned, all of them relative to the starting pose.

Exceptions

std::exception On invalid index value

See also: absolutePoseAfterAll

Definition at line 87 of file CPoses3DSequence.cpp.

References THROW_EXCEPTION.

◆ appendPose()

void CPoses3DSequence::appendPose ( CPose3D & newPose )

Appends a new pose at the end of sequence.

Remember that poses are relative, incremental to the last one.

Definition at line 70 of file CPoses3DSequence.cpp.

References mrpt::poses::CPose3D::asTPose().

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◆ changePose()

void CPoses3DSequence::changePose	(	unsigned int	ind,
		CPose3D &	inPose
	)

Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1".

Exceptions

std::exception On invalid index value

Definition at line 60 of file CPoses3DSequence.cpp.

References mrpt::poses::CPose3D::asTPose(), and THROW_EXCEPTION.

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◆ clear()

void CPoses3DSequence::clear ( )

Clears the sequence.

Definition at line 78 of file CPoses3DSequence.cpp.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPoses3DSequence::clone ( ) const

overridevirtual

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

Implements mrpt::rtti::CObject.

◆ computeTraveledDistanceAfter()

double CPoses3DSequence::computeTraveledDistanceAfter ( size_t n )

Returns the traveled distance after moving "n" poses, so for "n=0" it returns 0, for "n=1" the first traveled distance, and for "n=posesCount()", the total distance after ALL movements.

Exceptions

std::exception On invalid index value

See also: computeTraveledDistanceAfterAll

Definition at line 108 of file CPoses3DSequence.cpp.

References mrpt::math::norm(), and THROW_EXCEPTION.

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◆ computeTraveledDistanceAfterAll()

double CPoses3DSequence::computeTraveledDistanceAfterAll ( )

Returns the traveled distance after ALL movements.

A shortcut for "computeTraveledDistanceAfter( posesCount() )".

See also: computeTraveledDistanceAfter

Definition at line 119 of file CPoses3DSequence.cpp.

◆ Create()

template<typename... Args>

static Ptr mrpt::poses::CPoses3DSequence::Create ( Args &&... args )

inlinestatic

Definition at line 25 of file CPoses3DSequence.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::poses::CPoses3DSequence::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 25 of file CPoses3DSequence.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::poses::CPoses3DSequence::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::poses::CPoses3DSequence::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 25 of file CPoses3DSequence.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::poses::CPoses3DSequence::getClassName ( )

inlinestatic

Definition at line 25 of file CPoses3DSequence.h.

◆ getPose()

void CPoses3DSequence::getPose	(	unsigned int	ind,
		CPose3D &	outPose
	)

Reads the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1".

Exceptions

std::exception On invalid index value

Definition at line 49 of file CPoses3DSequence.cpp.

References THROW_EXCEPTION.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPoses3DSequence::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::poses::CPoses3DSequence::GetRuntimeClassIdStatic ( )

static

◆ posesCount()

size_t CPoses3DSequence::posesCount ( )

Returns the poses count in the sequence:

Definition at line 22 of file CPoses3DSequence.cpp.

◆ serializeFrom() [1/2]

void CPoses3DSequence::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 29 of file CPoses3DSequence.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and mrpt::serialization::CArchive::ReadAs().

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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 CPoses3DSequence::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 23 of file CPoses3DSequence.cpp.

◆ serializeTo() [1/2]

void CPoses3DSequence::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 24 of file CPoses3DSequence.cpp.

References out.

◆ 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.

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

◆ className

constexpr const char* mrpt::poses::CPoses3DSequence::className = "mrpt::poses" "::" "CPoses3DSequence"

static

Definition at line 25 of file CPoses3DSequence.h.

◆ m_poses

std::vector<mrpt::math::TPose3D> mrpt::poses::CPoses3DSequence::m_poses

private

The internal sequence of poses, stored as relative, incremental poses, thus each one is situated just at the end point of last one, where the first one is referenced to (0,0,0deg)

Definition at line 87 of file CPoses3DSequence.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPoses3DSequence::runtimeClassId

staticprotected

Definition at line 25 of file CPoses3DSequence.h.

Detailed Description

Public Member Functions

Protected Member Functions

Private Attributes

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Member Function Documentation

◆ _GetBaseClass()

◆ absolutePoseAfterAll()

◆ absolutePoseOf()

◆ appendPose()

◆ changePose()

◆ clear()

◆ clone()

◆ computeTraveledDistanceAfter()

◆ computeTraveledDistanceAfterAll()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ getClassName()

◆ getPose()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ posesCount()

◆ serializeFrom() [1/2]

◆ serializeFrom() [2/2]

◆ serializeGetVersion()

◆ serializeTo() [1/2]

◆ serializeTo() [2/2]

◆ writeToMatlab()

Member Data Documentation

◆ className

◆ m_poses

◆ runtimeClassId