CPoses3DSequence.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef CPoses3DSequence_H
#define CPoses3DSequence_H

#include <mrpt/poses/CPose3D.h>
#include <mrpt/utils/CSerializable.h>

namespace mrpt
{
namespace poses
{
/** 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.
 *
 * \sa CPose3D, CMultiMetricMap
 * \ingroup poses_grp
 */
class CPoses3DSequence : public mrpt::utils::CSerializable
{
        DEFINE_SERIALIZABLE(CPoses3DSequence)
   public:
        /** Default constructor
         */
        CPoses3DSequence();

        /** Returns the poses count in the sequence:
         */
        size_t posesCount();

        /** Reads the stored pose at index "ind", where the first one is 0, the last
         * "posesCount() - 1"
         * \exception std::exception On invalid index value
         */
        void getPose(unsigned int ind, CPose3D& outPose);

        /** Changes the stored pose at index "ind", where the first one is 0, the
         * last "posesCount() - 1"
         * \exception std::exception On invalid index value
         */
        void changePose(unsigned int ind, CPose3D& inPose);

        /** Appends a new pose at the end of sequence. Remember that poses are
         * relative, incremental to the last one.
         */
        void appendPose(CPose3D& newPose);

        /** Clears the sequence.
         */
        void clear();

        /** 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.
         * \exception std::exception On invalid index value
         * \sa absolutePoseAfterAll
         */
        CPose3D absolutePoseOf(unsigned int n);

        /** A shortcut for "absolutePoseOf( posesCount() )".
         * \sa absolutePoseOf, posesCount
         */
        CPose3D absolutePoseAfterAll();

        /** 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.
         * \exception std::exception On invalid index value
         * \sa computeTraveledDistanceAfterAll
         */
        float computeTraveledDistanceAfter(unsigned int n);

        /** Returns the traveled distance after ALL movements.
         *   A shortcut for "computeTraveledDistanceAfter( posesCount() )".
         * \sa computeTraveledDistanceAfter
         */
        float computeTraveledDistanceAfterAll();

   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)
         */
        std::vector<mrpt::math::TPose3D> m_poses;

};  // End of class def.
}  // End of namespace
}  // End of namespace

#endif