Detailed Description

Declares a class for storing a collection of robot actions.

It is used in mrpt::obs::CRawlog, for logs storage and particle filter based simulations.

See also: CAction, CRawlog

Definition at line 29 of file CActionCollection.h.

#include <mrpt/obs/CActionCollection.h>

Inheritance diagram for mrpt::obs::CActionCollection:

Public Types
typedef std::deque< mrpt::utils::poly_ptr_ptr< CAction::Ptr > >::iterator	iterator
	You can use CActionCollection::begin to get a iterator to the first element. More...

typedef std::deque< mrpt::utils::poly_ptr_ptr< CAction::Ptr > >::const_iterator	const_iterator
	You can use CActionCollection::begin to get a iterator to the first element. 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

	CActionCollection ()
	ctor More...

	CActionCollection (CAction &a)
	Constructor from a single action. More...

const_iterator	begin () const
	Returns a iterator to the first action: this is an example of usage: More...

iterator	begin ()
	Returns a iterator to the first action: this is an example of usage: More...

const_iterator	end () const
	Returns a iterator pointing to the end of the list: this is an example of usage: More...

iterator	end ()
	Returns a iterator pointing to the end of the list: this is an example of usage: More...

iterator	erase (const iterator &it)
	Removes the given action in the list, and return an iterator to the next element (or this->end() if it was the last one). More...

void	clear ()
	Erase all actions from the list. More...

CAction::Ptr	get (size_t index)
	Access the i'th action.DO NOT MODIFY the returned object, make a copy of ir with "CSerializable::duplicate" if desired. More...

const CAction &	get (size_t index) const

template<typename T >
T::Ptr	getActionByClass (const size_t &ith=0) const
	Access to the i'th action of a given class, or a nullptr smart pointer if there is no action of that class in the list. More...

void	insert (CAction &action)
	Add a new object to the list. More...

size_t	size ()
	Returns the actions count in the collection. More...

CActionRobotMovement2D::Ptr	getBestMovementEstimation () const
	Returns the best pose increment estimator in the collection, based on the determinant of its pose change covariance matrix. More...

CActionRobotMovement2D::Ptr	getMovementEstimationByType (CActionRobotMovement2D::TEstimationMethod method)
	Returns the pose increment estimator in the collection having the specified type. More...

bool	getFirstMovementEstimationMean (mrpt::poses::CPose3D &out_pose_increment) const
	Look for the first 2D or 3D "odometry" found in this collection of actions, and return the "mean" increment of the robot according to it. More...

bool	getFirstMovementEstimation (mrpt::poses::CPose3DPDFGaussian &out_pose_increment) const
	Look for the first 2D or 3D "odometry" found in this collection of actions, and return the "mean" increment of the robot and its covariance according to it. More...

void	eraseByIndex (const size_t &index)
	Remove an action from the list by its index. 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)

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...

Protected Attributes
std::deque< mrpt::utils::poly_ptr_ptr< CAction::Ptr > >	m_actions
	The robot "actionss". More...

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

using	ConstPtr = std::shared_ptr< const CActionCollection >

static mrpt::utils::CLASSINIT	_init_CActionCollection

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CActionCollection"

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

◆ const_iterator

typedef std::deque<mrpt::utils::poly_ptr_ptr<CAction::Ptr> >::const_iterator mrpt::obs::CActionCollection::const_iterator

You can use CActionCollection::begin to get a iterator to the first element.

Definition at line 53 of file CActionCollection.h.

◆ ConstPtr

using mrpt::obs::CActionCollection::ConstPtr = std::shared_ptr<const CActionCollection >

Definition at line 31 of file CActionCollection.h.

◆ iterator

typedef std::deque<mrpt::utils::poly_ptr_ptr<CAction::Ptr> >::iterator mrpt::obs::CActionCollection::iterator

You can use CActionCollection::begin to get a iterator to the first element.

Definition at line 47 of file CActionCollection.h.

◆ Ptr

using mrpt::obs::CActionCollection::Ptr = std::shared_ptr< CActionCollection >

A typedef for the associated smart pointer

Definition at line 31 of file CActionCollection.h.

Constructor & Destructor Documentation

◆ CActionCollection() [1/2]

CActionCollection::CActionCollection ( )

ctor

Definition at line 31 of file CActionCollection.cpp.

◆ CActionCollection() [2/2]

CActionCollection::CActionCollection ( CAction & a )

Constructor from a single action.

Definition at line 35 of file CActionCollection.cpp.

References m_actions.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ begin() [1/2]

const_iterator mrpt::obs::CActionCollection::begin ( ) const

inline

Returns a iterator to the first action: this is an example of usage:

CActionCollection  acts;
...
for (CActionCollection::iterator it=acts.begin();it!=acts.end();++it)
    {
   (*it)->... // (*it) is a "CAction::Ptr"
}

Definition at line 66 of file CActionCollection.h.

References m_actions.

Referenced by getActionByClass(), getBestMovementEstimation(), getMovementEstimationByType(), readFromStream(), and writeToStream().

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◆ begin() [2/2]

iterator mrpt::obs::CActionCollection::begin ( )

inline

Returns a iterator to the first action: this is an example of usage:

CActionCollection  acts;
...
for (CActionCollection::iterator it=acts.begin();it!=acts.end();++it)
    {
   (*it)->... // (*it) is a "CAction::Ptr"
}

Definition at line 78 of file CActionCollection.h.

References m_actions.

◆ clear()

void CActionCollection::clear ( )

Erase all actions from the list.

Definition at line 85 of file CActionCollection.cpp.

References m_actions.

Referenced by readFromStream().

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◆ clone()

virtual mrpt::utils::CObject* mrpt::obs::CActionCollection::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::obs::CActionCollection::Create ( Args &&... args )

inlinestatic

Definition at line 31 of file CActionCollection.h.

◆ CreateObject()

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

static

◆ end() [1/2]

const_iterator mrpt::obs::CActionCollection::end ( ) const

inline

Returns a iterator pointing to the end of the list: this is an example of usage:

CActionCollection  acts;
...
for (CActionCollection::iterator it=acts.begin();it!=acts.end();++it)
       {
   (*it)->... // (*it) is a "CAction::Ptr"
}

Definition at line 91 of file CActionCollection.h.

References m_actions.

Referenced by erase(), getActionByClass(), getBestMovementEstimation(), getMovementEstimationByType(), readFromStream(), and writeToStream().

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◆ end() [2/2]

iterator mrpt::obs::CActionCollection::end ( )

inline

Returns a iterator pointing to the end of the list: this is an example of usage:

CActionCollection  acts;
...
for (CActionCollection::iterator it=acts.begin();it!=acts.end();++it)
       {
   (*it)->... // (*it) is a "CAction::Ptr"
}

Definition at line 104 of file CActionCollection.h.

References m_actions.

◆ erase()

CActionCollection::iterator CActionCollection::erase ( const iterator & it )

Removes the given action in the list, and return an iterator to the next element (or this->end() if it was the last one).

Definition at line 196 of file CActionCollection.cpp.

References ASSERT_, end(), m_actions, MRPT_END, and MRPT_START.

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◆ eraseByIndex()

void CActionCollection::eraseByIndex ( const size_t & index )

Remove an action from the list by its index.

Exceptions

std::exception On index out of bounds.

Definition at line 156 of file CActionCollection.cpp.

References m_actions, and THROW_EXCEPTION.

◆ get() [1/2]

CAction::Ptr CActionCollection::get ( size_t index )

Access the i'th action.DO NOT MODIFY the returned object, make a copy of ir with "CSerializable::duplicate" if desired.

First element is 0.

Exceptions

std::exception On index out of bounds.

Definition at line 89 of file CActionCollection.cpp.

References m_actions, and THROW_EXCEPTION.

◆ get() [2/2]

const CAction & CActionCollection::get ( size_t index ) const

Definition at line 96 of file CActionCollection.cpp.

References m_actions, and THROW_EXCEPTION.

◆ getActionByClass()

template<typename T >

T::Ptr mrpt::obs::CActionCollection::getActionByClass ( const size_t & ith = 0 ) const

inline

Access to the i'th action of a given class, or a nullptr smart pointer if there is no action of that class in the list.

Example:

CActionRobotMovement2D::Ptr obs =

acts->getActionByClass<CActionRobotMovement2D>();

By default (ith=0), the first one is returned.

Definition at line 132 of file CActionCollection.h.

References begin(), end(), MRPT_END, and MRPT_START.

Referenced by mrpt::slam::StandardProposal::PF_SLAM_implementation(), mrpt::slam::AuxiliaryPFStandardAndOptimal< USE_OPTIMAL_SAMPLING >::PF_SLAM_implementation_gatherActionsCheckBothActObs(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

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◆ getBestMovementEstimation()

CActionRobotMovement2D::Ptr CActionCollection::getBestMovementEstimation ( ) const

Returns the best pose increment estimator in the collection, based on the determinant of its pose change covariance matrix.

Returns: The estimation, or nullptr if none is available.

Definition at line 118 of file CActionCollection.cpp.

References begin(), CLASS_ID, det(), mrpt::obs::CActionRobotMovement2D::emScan2DMatching, and end().

Referenced by mrpt::slam::StandardProposal::PF_SLAM_implementation(), mrpt::slam::AuxiliaryPFStandardAndOptimal< USE_OPTIMAL_SAMPLING >::PF_SLAM_implementation_gatherActionsCheckBothActObs(), and mrpt::slam::CMetricMapBuilderICP::processActionObservation().

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◆ getFirstMovementEstimation()

bool CActionCollection::getFirstMovementEstimation ( mrpt::poses::CPose3DPDFGaussian & out_pose_increment ) const

Look for the first 2D or 3D "odometry" found in this collection of actions, and return the "mean" increment of the robot and its covariance according to it.

Returns: true on success,false on no odometry found.

Definition at line 231 of file CActionCollection.cpp.

References mrpt::poses::CPose3DPDFGaussian::copyFrom().

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◆ getFirstMovementEstimationMean()

bool CActionCollection::getFirstMovementEstimationMean ( mrpt::poses::CPose3D & out_pose_increment ) const

Look for the first 2D or 3D "odometry" found in this collection of actions, and return the "mean" increment of the robot according to it.

Returns: true on success,false on no odometry found.

Definition at line 208 of file CActionCollection.cpp.

◆ getMovementEstimationByType()

CActionRobotMovement2D::Ptr CActionCollection::getMovementEstimationByType ( CActionRobotMovement2D::TEstimationMethod method )

Returns the pose increment estimator in the collection having the specified type.

Returns: The estimation, or nullptr if none is available.

Definition at line 167 of file CActionCollection.cpp.

References begin(), CLASS_ID, and end().

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◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::obs::CActionCollection::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::obs::CActionCollection::GetRuntimeClassIdStatic ( )

static

◆ insert()

void CActionCollection::insert ( CAction & action )

Add a new object to the list.

Definition at line 110 of file CActionCollection.cpp.

References mrpt::utils::CObject::clone(), and m_actions.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

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◆ operator delete() [1/3]

void mrpt::obs::CActionCollection::operator delete ( void * ptr )

inlinenoexcept

Definition at line 31 of file CActionCollection.h.

◆ operator delete() [2/3]

void mrpt::obs::CActionCollection::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 31 of file CActionCollection.h.

◆ operator delete() [3/3]

void mrpt::obs::CActionCollection::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 31 of file CActionCollection.h.

◆ operator delete[]()

void mrpt::obs::CActionCollection::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 31 of file CActionCollection.h.

◆ operator new() [1/3]

void* mrpt::obs::CActionCollection::operator new ( size_t size )

inline

Definition at line 31 of file CActionCollection.h.

◆ operator new() [2/3]

void* mrpt::obs::CActionCollection::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 31 of file CActionCollection.h.

◆ operator new() [3/3]

static void* mrpt::obs::CActionCollection::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 31 of file CActionCollection.h.

◆ operator new[]()

void* mrpt::obs::CActionCollection::operator new[] ( size_t size )

inline

Definition at line 31 of file CActionCollection.h.

◆ readFromStream()

void CActionCollection::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 61 of file CActionCollection.cpp.

References begin(), clear(), end(), m_actions, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

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◆ size()

size_t CActionCollection::size ( )

Returns the actions count in the collection.

Definition at line 106 of file CActionCollection.cpp.

References m_actions.

◆ 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 CActionCollection::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

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 43 of file CActionCollection.cpp.

References begin(), end(), and m_actions.

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Member Data Documentation

◆ _init_CActionCollection

mrpt::utils::CLASSINIT mrpt::obs::CActionCollection::_init_CActionCollection

staticprotected

Definition at line 31 of file CActionCollection.h.

◆ className

constexpr const char* mrpt::obs::CActionCollection::className = "CActionCollection"

static

Definition at line 31 of file CActionCollection.h.

◆ m_actions

std::deque<mrpt::utils::poly_ptr_ptr<CAction::Ptr> > mrpt::obs::CActionCollection::m_actions

protected

The robot "actionss".

Definition at line 35 of file CActionCollection.h.

Referenced by begin(), CActionCollection(), clear(), end(), erase(), eraseByIndex(), get(), insert(), readFromStream(), size(), and writeToStream().

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::obs::CActionCollection::runtimeClassId

staticprotected

Definition at line 31 of file CActionCollection.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

RTTI stuff

Member Typedef Documentation

◆ const_iterator

◆ ConstPtr

◆ iterator

◆ Ptr

Constructor & Destructor Documentation

◆ CActionCollection() [1/2]

◆ CActionCollection() [2/2]

Member Function Documentation

◆ _GetBaseClass()

◆ begin() [1/2]

◆ begin() [2/2]

◆ clear()

◆ clone()

◆ Create()

◆ CreateObject()

◆ end() [1/2]

◆ end() [2/2]

◆ erase()

◆ eraseByIndex()

◆ get() [1/2]

◆ get() [2/2]

◆ getActionByClass()

◆ getBestMovementEstimation()

◆ getFirstMovementEstimation()

◆ getFirstMovementEstimationMean()

◆ getMovementEstimationByType()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ insert()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ readFromStream()

◆ size()

◆ writeToMatlab()

◆ writeToStream()

Member Data Documentation

◆ _init_CActionCollection

◆ className

◆ m_actions

◆ runtimeClassId