MRPT  1.9.9
mrpt::obs::CRawlog Class Reference

Detailed Description

This class stores a rawlog (robotic datasets) in one of two possible formats:

  • Format #1: A sequence of actions and observations. There is a sequence of objects, where each one can be of one type:
    • An action: Implemented as a CActionCollection object, the actuation of the robot (i.e. odometry increment).
    • Observations: Implemented as a CSensoryFrame, refering to a set of robot observations from the same pose.
  • Format #2: A sequence of actions and observations. There is a sequence of objects, where each one can be of one type:
    Refer to the wiki page about <a href="http://www.mrpt.org/Rawlog_Format"
    
    >rawlog files.

See also the application RawLogViewer for the GUI program that visualizes and manages rawlogs.

This class also publishes a static helper method for loading rawlog files in format #1: see CRawlog::readActionObservationPair

There is a field for comments and blocks of parameters (in ini-like format) accessible through getCommentText and setCommentText (introduced in MRPT 0.6.4). When serialized to a rawlog file, the comments are saved as an additional observation of the type CObservationComments at the beginning of the file, but this observation does not appear after loading for clarity.

Note
Since MRPT version 0.5.5, this class also provides a STL container-like interface (see CRawlog::begin, CRawlog::iterator, ...).
The format #2 is supported since MRPT version 0.6.0.
There is a static helper method "detectImagesDirectory" for localizing the external images directory of a rawlog.
See also
CSensoryFrame, CPose2D, RawLog file format.

Definition at line 65 of file CRawlog.h.

#include <mrpt/obs/CRawlog.h>

Inheritance diagram for mrpt::obs::CRawlog:

Classes

class  const_iterator
 A normal iterator, plus the extra method "getType" to determine the type of each entry in the sequence. More...
 
class  iterator
 A normal iterator, plus the extra method "getType" to determine the type of each entry in the sequence. More...
 

Public Types

enum  TEntryType { etSensoryFrame = 0, etActionCollection, etObservation, etOther }
 The type of each entry in a rawlog. More...
 

Public Member Functions

void getCommentText (std::string &t) const
 Returns the block of comment text for the rawlog. More...
 
std::string getCommentText () const
 Returns the block of comment text for the rawlog. More...
 
void setCommentText (const std::string &t)
 Changes the block of comment text for the rawlog. More...
 
void getCommentTextAsConfigFile (mrpt::config::CConfigFileMemory &memCfg) const
 Saves the block of comment text for the rawlog into the passed config file object. More...
 
 CRawlog ()
 Default constructor. More...
 
 ~CRawlog () override
 Destructor: More...
 
void clear ()
 Clear the sequence of actions/observations. More...
 
void addAction (CAction &action)
 Add an action to the sequence: a collection of just one element is created. More...
 
void addActions (CActionCollection &action)
 Add a set of actions to the sequence; the object is duplicated, so the original one can be freed if desired. More...
 
void addObservations (CSensoryFrame &observations)
 Add a set of observations to the sequence; the object is duplicated, so the original one can be free if desired. More...
 
void addActionsMemoryReference (const CActionCollection::Ptr &action)
 Add a set of actions to the sequence, using a smart pointer to the object to add. More...
 
void addObservationsMemoryReference (const CSensoryFrame::Ptr &observations)
 Add a set of observations to the sequence, using a smart pointer to the object to add. More...
 
void addObservationMemoryReference (const CObservation::Ptr &observation)
 Add a single observation to the sequence, using a smart pointer to the object to add. More...
 
void addGenericObject (const mrpt::serialization::CSerializable::Ptr &obj)
 Generic add for a smart pointer to a CSerializable object: More...
 
bool loadFromRawLogFile (const std::string &fileName, bool non_obs_objects_are_legal=false)
 Load the contents from a file containing one of these possibilities: More...
 
bool saveToRawLogFile (const std::string &fileName) const
 Saves the contents to a rawlog-file, compatible with RawlogViewer (As the sequence of internal objects). More...
 
size_t size () const
 Returns the number of actions / observations object in the sequence. More...
 
TEntryType getType (size_t index) const
 Returns the type of a given element. More...
 
void remove (size_t index)
 Delete the action or observation stored in the given index. More...
 
void remove (size_t first_index, size_t last_index)
 Delete the elements stored in the given range of indices (including both the first and last one). More...
 
CActionCollection::Ptr getAsAction (size_t index) const
 Returns the i'th element in the sequence, as being actions, where index=0 is the first object. More...
 
CSensoryFrame::Ptr getAsObservations (size_t index) const
 Returns the i'th element in the sequence, as being an action, where index=0 is the first object. More...
 
mrpt::serialization::CSerializable::Ptr getAsGeneric (size_t index) const
 Returns the i'th element in the sequence, being its class whatever. More...
 
CObservation::Ptr getAsObservation (size_t index) const
 Returns the i'th element in the sequence, as being an observation, where index=0 is the first object. More...
 
const_iterator begin () const
 
iterator begin ()
 
const_iterator end () const
 
iterator end ()
 
iterator erase (const iterator &it)
 
void findObservationsByClassInRange (mrpt::system::TTimeStamp time_start, mrpt::system::TTimeStamp time_end, const mrpt::rtti::TRuntimeClassId *class_type, TListTimeAndObservations &out_found, size_t guess_start_position=0) const
 Returns the sub-set of observations of a given class whose time-stamp t fulfills time_start <= t < time_end. More...
 
void swap (CRawlog &obj)
 Efficiently swap the contents of two existing objects. More...
 
bool getActionObservationPair (CActionCollection::Ptr &action, CSensoryFrame::Ptr &observations, size_t &rawlogEntry) const
 Gets the next consecutive pair action / observation from the rawlog loaded into this object. More...
 
virtual mxArraywriteToMatlab () 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...
 

Static Public Member Functions

static bool readActionObservationPair (mrpt::serialization::CArchive &inStream, CActionCollection::Ptr &action, CSensoryFrame::Ptr &observations, size_t &rawlogEntry)
 Reads a consecutive pair action / observation from the rawlog opened at some input stream. More...
 
static bool getActionObservationPairOrObservation (mrpt::serialization::CArchive &inStream, CActionCollection::Ptr &action, CSensoryFrame::Ptr &observations, CObservation::Ptr &observation, size_t &rawlogEntry)
 Reads a consecutive pair action/sensory_frame OR an observation, depending of the rawlog format, from the rawlog opened at some input stream. More...
 
static std::string detectImagesDirectory (const std::string &rawlogFilename)
 Tries to auto-detect the external-images directory of the given rawlog file. 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 Types

using TListObjects = std::vector< mrpt::serialization::CSerializable::Ptr >
 

Private Attributes

TListObjects m_seqOfActObs
 The list where the objects really are in. More...
 
CObservationComment m_commentTexts
 Comments of the rawlog. More...
 

RTTI stuff

using Ptr = std::shared_ptr< CRawlog >
 
using ConstPtr = std::shared_ptr< const CRawlog >
 
using UniquePtr = std::unique_ptr< CRawlog >
 
using ConstUniquePtr = std::unique_ptr< const CRawlog >
 
static mrpt::rtti::CLASSINIT _init_CRawlog
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "CRawlog"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static std::shared_ptr< CObjectCreateObject ()
 
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::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

Member Typedef Documentation

◆ ConstPtr

Definition at line 67 of file CRawlog.h.

◆ ConstUniquePtr

using mrpt::obs::CRawlog::ConstUniquePtr = std::unique_ptr<const CRawlog >

Definition at line 67 of file CRawlog.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 67 of file CRawlog.h.

◆ TListObjects

Definition at line 70 of file CRawlog.h.

◆ UniquePtr

using mrpt::obs::CRawlog::UniquePtr = std::unique_ptr< CRawlog >

Definition at line 67 of file CRawlog.h.

Member Enumeration Documentation

◆ TEntryType

The type of each entry in a rawlog.

See also
CRawlog::getType
Enumerator
etSensoryFrame 
etActionCollection 
etObservation 
etOther 

Definition at line 92 of file CRawlog.h.

Constructor & Destructor Documentation

◆ CRawlog()

CRawlog::CRawlog ( )

Default constructor.

Definition at line 29 of file CRawlog.cpp.

◆ ~CRawlog()

CRawlog::~CRawlog ( )
override

Destructor:

Definition at line 31 of file CRawlog.cpp.

References mrpt::containers::clear().

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Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::obs::CRawlog::_GetBaseClass ( )
staticprotected

◆ addAction()

void CRawlog::addAction ( CAction action)

Add an action to the sequence: a collection of just one element is created.

The object is duplicated, so the original one can be freed if desired.

Definition at line 78 of file CRawlog.cpp.

Referenced by mrpt::detectors::CDetectorDoorCrossing::process().

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◆ addActions()

void CRawlog::addActions ( CActionCollection action)

Add a set of actions to the sequence; the object is duplicated, so the original one can be freed if desired.

See also
addObservations, addActionsMemoryReference

Definition at line 44 of file CRawlog.cpp.

References mrpt::rtti::CObject::duplicateGetSmartPtr().

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◆ addActionsMemoryReference()

void CRawlog::addActionsMemoryReference ( const CActionCollection::Ptr action)

Add a set of actions to the sequence, using a smart pointer to the object to add.

See also
addActions, addObservationsMemoryReference, addObservationMemoryReference

Definition at line 50 of file CRawlog.cpp.

◆ addGenericObject()

void CRawlog::addGenericObject ( const mrpt::serialization::CSerializable::Ptr obj)

Generic add for a smart pointer to a CSerializable object:

See also
addObservations, addActionsMemoryReference, addObservationMemoryReference

Definition at line 60 of file CRawlog.cpp.

◆ addObservationMemoryReference()

void CRawlog::addObservationMemoryReference ( const CObservation::Ptr observation)

Add a single observation to the sequence, using a smart pointer to the object to add.

See also
addObservations, addActionsMemoryReference

Definition at line 65 of file CRawlog.cpp.

References IS_CLASS.

◆ addObservations()

void CRawlog::addObservations ( CSensoryFrame observations)

Add a set of observations to the sequence; the object is duplicated, so the original one can be free if desired.

See also
addActions, addObservationsMemoryReference

Definition at line 38 of file CRawlog.cpp.

References mrpt::rtti::CObject::duplicateGetSmartPtr().

Referenced by mrpt::detectors::CDetectorDoorCrossing::process().

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◆ addObservationsMemoryReference()

void CRawlog::addObservationsMemoryReference ( const CSensoryFrame::Ptr observations)

Add a set of observations to the sequence, using a smart pointer to the object to add.

See also
addObservations, addActionsMemoryReference, addObservationMemoryReference

Definition at line 55 of file CRawlog.cpp.

◆ begin() [1/2]

const_iterator mrpt::obs::CRawlog::begin ( ) const
inline

Definition at line 338 of file CRawlog.h.

References m_seqOfActObs.

◆ begin() [2/2]

iterator mrpt::obs::CRawlog::begin ( )
inline

Definition at line 339 of file CRawlog.h.

References m_seqOfActObs.

◆ clear()

void CRawlog::clear ( )

Clear the sequence of actions/observations.

Smart pointers to objects previously in the rawlog will remain being valid.

Definition at line 32 of file CRawlog.cpp.

Referenced by mrpt::detectors::CDetectorDoorCrossing::clear().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::obs::CRawlog::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::obs::CRawlog::Create ( Args &&...  args)
inlinestatic

Definition at line 67 of file CRawlog.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::obs::CRawlog::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 67 of file CRawlog.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::obs::CRawlog::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::obs::CRawlog::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 67 of file CRawlog.h.

◆ detectImagesDirectory()

std::string CRawlog::detectImagesDirectory ( const std::string rawlogFilename)
static

Tries to auto-detect the external-images directory of the given rawlog file.

This searches for the existence of the directories:

  • "<rawlog_file_path>/<rawlog_filename>_Images"
  • "<rawlog_file_path>/<rawlog_filename>_images"
  • "<rawlog_file_path>/<rawlog_filename>_IMAGES"
  • "<rawlog_file_path>/Images" (This one is returned if none of the choices actually exists).

The results from this function should be written into mrpt::img::CImage::getImagesPathBase() to enable automatic loading of extenrnally-stored images in rawlogs.

Definition at line 555 of file CRawlog.cpp.

References mrpt::system::extractFileDirectory(), mrpt::system::extractFileName(), and mrpt::system::fileExists().

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◆ 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 200 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by addActions(), and addObservations().

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◆ end() [1/2]

const_iterator mrpt::obs::CRawlog::end ( ) const
inline

Definition at line 340 of file CRawlog.h.

References m_seqOfActObs.

◆ end() [2/2]

iterator mrpt::obs::CRawlog::end ( )
inline

Definition at line 341 of file CRawlog.h.

References m_seqOfActObs.

◆ erase()

iterator mrpt::obs::CRawlog::erase ( const iterator it)
inline

Definition at line 342 of file CRawlog.h.

References mrpt::obs::CRawlog::iterator::erase(), and m_seqOfActObs.

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◆ findObservationsByClassInRange()

void CRawlog::findObservationsByClassInRange ( mrpt::system::TTimeStamp  time_start,
mrpt::system::TTimeStamp  time_end,
const mrpt::rtti::TRuntimeClassId class_type,
TListTimeAndObservations out_found,
size_t  guess_start_position = 0 
) const

Returns the sub-set of observations of a given class whose time-stamp t fulfills time_start <= t < time_end.

This method requires the timestamps of the sensors to be in strict ascending order (which should be the normal situation). Otherwise, the output is undeterminate.

See also
findClosestObservationsByClass

Definition at line 432 of file CRawlog.cpp.

References ASSERT_, CLASS_ID, mrpt::math::distance(), INVALID_TIMESTAMP, MRPT_END, MRPT_START, MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

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◆ getActionObservationPair()

bool CRawlog::getActionObservationPair ( CActionCollection::Ptr action,
CSensoryFrame::Ptr observations,
size_t &  rawlogEntry 
) const

Gets the next consecutive pair action / observation from the rawlog loaded into this object.

Previous contents of action and observations are discarded (using stlplus::smart_ptr::reset), and at exit they contain the new objects read from the rawlog file. The input/output variable "rawlogEntry" is just a counter of the last rawlog entry read, for logging or monitoring purposes.

Returns
false if there was some error, true otherwise.
See also
readActionObservationPair

Definition at line 513 of file CRawlog.cpp.

References mrpt::exception_to_str().

Referenced by run_test_pf_localization().

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◆ getActionObservationPairOrObservation()

bool CRawlog::getActionObservationPairOrObservation ( mrpt::serialization::CArchive inStream,
CActionCollection::Ptr action,
CSensoryFrame::Ptr observations,
CObservation::Ptr observation,
size_t &  rawlogEntry 
)
static

Reads a consecutive pair action/sensory_frame OR an observation, depending of the rawlog format, from the rawlog opened at some input stream.

Previous contents of action and observations are discarded (using stlplus::smart_ptr::reset), and at exit they contain the new objects read from the rawlog file.

At return, one of this will happen:

  • action/observations contain objects (i.e. action() evaluates as true).
  • observation contains an object (i.e. observation evaluates as true).

The input/output variable "rawlogEntry" is just a counter of the last rawlog entry read, for logging or monitoring purposes.

Returns
false if there was some error, true otherwise.
See also
getActionObservationPair

Definition at line 370 of file CRawlog.cpp.

References CLASS_ID, mrpt::exception_to_str(), IS_CLASS, and IS_DERIVED.

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◆ getAsAction()

CActionCollection::Ptr CRawlog::getAsAction ( size_t  index) const

Returns the i'th element in the sequence, as being actions, where index=0 is the first object.

If it is not a CActionCollection, it throws an exception. Do neighter modify nor delete the returned pointer.

See also
size, isAction, getAsObservations, getAsObservation
Exceptions
std::exceptionIf index is out of bounds

Definition at line 86 of file CRawlog.cpp.

References CLASS_ID, MRPT_END, MRPT_START, THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

Referenced by mrpt::detectors::CDetectorDoorCrossing::process().

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◆ getAsGeneric()

CSerializable::Ptr CRawlog::getAsGeneric ( size_t  index) const

Returns the i'th element in the sequence, being its class whatever.

See also
size, isAction, getAsAction, getAsObservations
Exceptions
std::exceptionIf index is out of bounds

Definition at line 118 of file CRawlog.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ getAsObservation()

CObservation::Ptr CRawlog::getAsObservation ( size_t  index) const

Returns the i'th element in the sequence, as being an observation, where index=0 is the first object.

If it is not an CObservation, it throws an exception. Do neighter modify nor delete the returned pointer. This is the proper method to obtain the objects stored in a "only observations"-rawlog file (named "format #2" above.

See also
size, isAction, getAsAction
Exceptions
std::exceptionIf index is out of bounds

Definition at line 102 of file CRawlog.cpp.

References CLASS_ID, MRPT_END, MRPT_START, THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

Referenced by mrpt::topography::path_from_rtk_gps().

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◆ getAsObservations()

CSensoryFrame::Ptr CRawlog::getAsObservations ( size_t  index) const

Returns the i'th element in the sequence, as being an action, where index=0 is the first object.

If it is not an CSensoryFrame, it throws an exception. Do neighter modify nor delete the returned pointer.

See also
size, isAction, getAsAction, getAsObservation
Exceptions
std::exceptionIf index is out of bounds

Definition at line 146 of file CRawlog.cpp.

References CLASS_ID, MRPT_END, MRPT_START, THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

Referenced by mrpt::detectors::CDetectorDoorCrossing::process().

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◆ getClassName()

static constexpr auto mrpt::obs::CRawlog::getClassName ( )
inlinestatic

Definition at line 67 of file CRawlog.h.

◆ getCommentText() [1/2]

void CRawlog::getCommentText ( std::string t) const

Returns the block of comment text for the rawlog.

Definition at line 546 of file CRawlog.cpp.

◆ getCommentText() [2/2]

std::string CRawlog::getCommentText ( ) const

Returns the block of comment text for the rawlog.

Definition at line 547 of file CRawlog.cpp.

◆ getCommentTextAsConfigFile()

void CRawlog::getCommentTextAsConfigFile ( mrpt::config::CConfigFileMemory memCfg) const

Saves the block of comment text for the rawlog into the passed config file object.

Definition at line 548 of file CRawlog.cpp.

References mrpt::config::CConfigFileMemory::setContent().

Referenced by mrpt::topography::path_from_rtk_gps().

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◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::obs::CRawlog::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::obs::CRawlog::GetRuntimeClassIdStatic ( )
static

◆ getType()

CRawlog::TEntryType CRawlog::getType ( size_t  index) const

Returns the type of a given element.

See also
isAction, isObservation

Definition at line 127 of file CRawlog.cpp.

References CLASS_ID, MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::topography::path_from_rtk_gps().

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◆ loadFromRawLogFile()

bool CRawlog::loadFromRawLogFile ( const std::string fileName,
bool  non_obs_objects_are_legal = false 
)

Load the contents from a file containing one of these possibilities:

  • A "CRawlog" object.
  • Directly the sequence of objects (pairs CSensoryFrame/CActionCollection or CObservation* objects). In this case the method stops reading on EOF of an unrecogniced class name.
  • Only if non_obs_objects_are_legal is true, any CSerializable object is allowed in the log file. Otherwise, the read stops on classes different from the ones listed in the item above.
    Returns
    It returns false upon error reading or accessing the file.

Definition at line 187 of file CRawlog.cpp.

References mrpt::serialization::archiveFrom(), CLASS_ID, mrpt::containers::clear(), mrpt::exception_to_str(), mrpt::io::CFileGZInputStream::fileOpenCorrectly(), and IS_CLASS.

Referenced by run_test_pf_localization(), and TEST().

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◆ readActionObservationPair()

bool CRawlog::readActionObservationPair ( mrpt::serialization::CArchive inStream,
CActionCollection::Ptr action,
CSensoryFrame::Ptr observations,
size_t &  rawlogEntry 
)
static

Reads a consecutive pair action / observation from the rawlog opened at some input stream.

Previous contents of action and observations are discarded (using stlplus::smart_ptr::reset), and at exit they contain the new objects read from the rawlog file. The input/output variable "rawlogEntry" is just a counter of the last rawlog entry read, for logging or monitoring purposes.

Returns
false if there was some error, true otherwise.
See also
getActionObservationPair, getActionObservationPairOrObservation

Definition at line 311 of file CRawlog.cpp.

References CLASS_ID, and mrpt::exception_to_str().

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◆ remove() [1/2]

void CRawlog::remove ( size_t  index)

Delete the action or observation stored in the given index.

Exceptions
std::exceptionIf index is out of bounds

Definition at line 267 of file CRawlog.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::detectors::CDetectorDoorCrossing::process().

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◆ remove() [2/2]

void CRawlog::remove ( size_t  first_index,
size_t  last_index 
)

Delete the elements stored in the given range of indices (including both the first and last one).

Exceptions
std::exceptionIf any index is out of bounds

Definition at line 275 of file CRawlog.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

◆ saveToRawLogFile()

bool CRawlog::saveToRawLogFile ( const std::string fileName) const

Saves the contents to a rawlog-file, compatible with RawlogViewer (As the sequence of internal objects).

The file is saved with gz-commpressed if MRPT has gz-streams.

Returns
It returns false if any error is found while writing/creating the target file.

Definition at line 287 of file CRawlog.cpp.

References mrpt::serialization::archiveFrom(), and mrpt::exception_to_str().

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◆ serializeFrom() [1/2]

void CRawlog::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
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 169 of file CRawlog.cpp.

References mrpt::containers::clear(), and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

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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 CRawlog::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 161 of file CRawlog.cpp.

◆ serializeTo() [1/2]

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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◆ serializeTo() [2/2]

void CRawlog::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::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 162 of file CRawlog.cpp.

References mrpt::serialization::CArchive::WriteAs().

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◆ setCommentText()

void CRawlog::setCommentText ( const std::string t)

Changes the block of comment text for the rawlog.

Definition at line 554 of file CRawlog.cpp.

◆ size()

size_t CRawlog::size ( ) const

Returns the number of actions / observations object in the sequence.

Definition at line 85 of file CRawlog.cpp.

Referenced by mrpt::topography::path_from_rtk_gps(), mrpt::detectors::CDetectorDoorCrossing::process(), run_test_pf_localization(), and TEST().

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◆ swap()

void CRawlog::swap ( CRawlog obj)

Efficiently swap the contents of two existing objects.

Definition at line 304 of file CRawlog.cpp.

◆ 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

◆ _init_CRawlog

mrpt::rtti::CLASSINIT mrpt::obs::CRawlog::_init_CRawlog
staticprotected

Definition at line 67 of file CRawlog.h.

◆ className

constexpr const char* mrpt::obs::CRawlog::className = "CRawlog"
static

Definition at line 67 of file CRawlog.h.

◆ m_commentTexts

CObservationComment mrpt::obs::CRawlog::m_commentTexts
private

Comments of the rawlog.

Definition at line 75 of file CRawlog.h.

◆ m_seqOfActObs

TListObjects mrpt::obs::CRawlog::m_seqOfActObs
private

The list where the objects really are in.

Definition at line 72 of file CRawlog.h.

Referenced by begin(), end(), and erase().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::obs::CRawlog::runtimeClassId
staticprotected

Definition at line 67 of file CRawlog.h.




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