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 31 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
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) noexcept

void	operator delete[] (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

void *	operator new (size_t size, const std::nothrow_t &) noexcept

void	operator delete (void *ptr, const std::nothrow_t &) noexcept

	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
mrpt::utils::CObject::Ptr	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...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

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

uint32_t	nPTGs
	The number of PTGS: More...

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

int32_t	nSelectedPTG
	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
	The circular robot radius. More...

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

uint16_t	ptg_last_k_NOP

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
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const override
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version) override
	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...

RTTI stuff
using	Ptr = std::shared_ptr< CLogFileRecord >

using	ConstPtr = std::shared_ptr< const CLogFileRecord >

static mrpt::utils::CLASSINIT	_init_CLogFileRecord

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CLogFileRecord"

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

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

static mrpt::utils::CObject *	CreateObject ()

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

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

virtual mrpt::utils::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 CLogFileRecord >

Definition at line 33 of file CLogFileRecord.h.

◆ Ptr

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

A typedef for the associated smart pointer

Definition at line 33 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::utils::TRuntimeClassId* mrpt::nav::CLogFileRecord::_GetBaseClass ( )

staticprotected

◆ clone()

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

overridevirtual

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

Implements mrpt::utils::CObject.

◆ Create()

template<typename... Args>

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

inlinestatic

Definition at line 33 of file CLogFileRecord.h.

◆ CreateObject()

static mrpt::utils::CObject* mrpt::nav::CLogFileRecord::CreateObject ( )

static

◆ GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ GetRuntimeClassIdStatic()

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

static

◆ operator delete() [1/3]

void mrpt::nav::CLogFileRecord::operator delete ( void * ptr )

inlinenoexcept

Definition at line 33 of file CLogFileRecord.h.

◆ operator delete() [2/3]

void mrpt::nav::CLogFileRecord::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 33 of file CLogFileRecord.h.

◆ operator delete() [3/3]

void mrpt::nav::CLogFileRecord::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 33 of file CLogFileRecord.h.

◆ operator delete[]()

void mrpt::nav::CLogFileRecord::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 33 of file CLogFileRecord.h.

◆ operator new() [1/3]

void* mrpt::nav::CLogFileRecord::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 33 of file CLogFileRecord.h.

◆ operator new() [2/3]

static void* mrpt::nav::CLogFileRecord::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 33 of file CLogFileRecord.h.

◆ operator new() [3/3]

void* mrpt::nav::CLogFileRecord::operator new ( size_t size )

inline

Definition at line 33 of file CLogFileRecord.h.

◆ operator new[]()

void* mrpt::nav::CLogFileRecord::operator new[] ( size_t size )

inline

Definition at line 33 of file CLogFileRecord.h.

◆ readFromStream()

void CLogFileRecord::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

overrideprotectedvirtual

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

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 error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 153 of file CLogFileRecord.cpp.

References additional_debug_msgs, cmd_vel, cmd_vel_original, cur_vel, cur_vel_local, mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::curVelLocal, mrpt::mrpt::format(), infoPerPTG, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, navDynState, nPTGs, nSelectedPTG, ptg_index_NOP, ptg_last_k_NOP, ptg_last_navDynState, mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::readFromStream(), rel_cur_pose_wrt_last_vel_cmd_NOP, rel_pose_PTG_origin_wrt_sense_NOP, relPoseSense, relPoseVelCmd, mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::relTarget, robotPoseLocalization, robotPoseOdometry, robotShape_radius, robotShape_x, robotShape_y, timestamps, WS_Obstacles, WS_Obstacles_original, and WS_targets_relative.

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◆ writeToMatlab()

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 nullptr is class does not support conversion to MATLAB.

Definition at line 89 of file CSerializable.h.

◆ writeToStream()

void CLogFileRecord::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

overrideprotectedvirtual

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

out	The output binary stream where object must be dumped.
getVersion	If nullptr, 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::exception On any error, see CStream::WriteBuffer