MRPT  1.9.9
mrpt::poses::CPoses2DSequence Class Reference

Detailed Description

This class stores a sequence of relative, incremental 2D 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
CPose2D, CMultiMetricMap

Definition at line 24 of file CPoses2DSequence.h.

#include <mrpt/poses/CPoses2DSequence.h>

Inheritance diagram for mrpt::poses::CPoses2DSequence:

Public Member Functions

size_t posesCount ()
 Returns the poses count in the sequence: More...
 
void getPose (unsigned int ind, CPose2D &outPose)
 Reads the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1". More...
 
void changePose (unsigned int ind, CPose2D &inPose)
 Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1". More...
 
void appendPose (CPose2D &newPose)
 Appends a new pose at the end of sequence. More...
 
void clear ()
 Clears the sequence. More...
 
CPose2D 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...
 
CPose2D absolutePoseAfterAll ()
 A shortcut for "absolutePoseOf( posesCount() )". More...
 
float computeTraveledDistanceAfter (unsigned int 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...
 
float computeTraveledDistanceAfterAll ()
 Returns the traveled distance after ALL movements. 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...
 

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< CPose2Dposes
 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< CPoses2DSequence >
 
using ConstPtr = std::shared_ptr< const CPoses2DSequence >
 
using UniquePtr = std::unique_ptr< CPoses2DSequence >
 
using ConstUniquePtr = std::unique_ptr< const CPoses2DSequence >
 
static mrpt::rtti::CLASSINIT _init_CPoses2DSequence
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "CPoses2DSequence"
 
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

◆ ConstUniquePtr

Definition at line 26 of file CPoses2DSequence.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 26 of file CPoses2DSequence.h.

◆ UniquePtr

Definition at line 26 of file CPoses2DSequence.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPoses2DSequence::_GetBaseClass ( )
staticprotected

◆ absolutePoseAfterAll()

CPose2D CPoses2DSequence::absolutePoseAfterAll ( )

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

See also
absolutePoseOf, posesCount

Definition at line 102 of file CPoses2DSequence.cpp.

◆ absolutePoseOf()

CPose2D CPoses2DSequence::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::exceptionOn invalid index value
See also
absolutePoseAfterAll

Definition at line 87 of file CPoses2DSequence.cpp.

References THROW_EXCEPTION.

◆ appendPose()

void CPoses2DSequence::appendPose ( CPose2D 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 CPoses2DSequence.cpp.

◆ changePose()

void CPoses2DSequence::changePose ( unsigned int  ind,
CPose2D inPose 
)

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

Exceptions
std::exceptionOn invalid index value

Definition at line 59 of file CPoses2DSequence.cpp.

References THROW_EXCEPTION.

◆ clear()

void CPoses2DSequence::clear ( )

Clears the sequence.

Definition at line 78 of file CPoses2DSequence.cpp.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::poses::CPoses2DSequence::clone ( ) const
overridevirtual

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

Implements mrpt::rtti::CObject.

◆ computeTraveledDistanceAfter()

float CPoses2DSequence::computeTraveledDistanceAfter ( unsigned int  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::exceptionOn invalid index value
See also
computeTraveledDistanceAfterAll

Definition at line 113 of file CPoses2DSequence.cpp.

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

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◆ computeTraveledDistanceAfterAll()

float CPoses2DSequence::computeTraveledDistanceAfterAll ( )

Returns the traveled distance after ALL movements.

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

See also
computeTraveledDistanceAfter

Definition at line 129 of file CPoses2DSequence.cpp.

◆ Create()

template<typename... Args>
static Ptr mrpt::poses::CPoses2DSequence::Create ( Args &&...  args)
inlinestatic

Definition at line 26 of file CPoses2DSequence.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::poses::CPoses2DSequence::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 26 of file CPoses2DSequence.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::poses::CPoses2DSequence::CreateObject ( )
static

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::poses::CPoses2DSequence::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 26 of file CPoses2DSequence.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 200 of file CObject.h.

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

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

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◆ getClassName()

static constexpr auto mrpt::poses::CPoses2DSequence::getClassName ( )
inlinestatic

Definition at line 26 of file CPoses2DSequence.h.

◆ getPose()

void CPoses2DSequence::getPose ( unsigned int  ind,
CPose2D outPose 
)

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

Exceptions
std::exceptionOn invalid index value

Definition at line 48 of file CPoses2DSequence.cpp.

References THROW_EXCEPTION.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::poses::CPoses2DSequence::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::CPoses2DSequence::GetRuntimeClassIdStatic ( )
static

◆ posesCount()

size_t CPoses2DSequence::posesCount ( )

Returns the poses count in the sequence:

Definition at line 21 of file CPoses2DSequence.cpp.

◆ serializeFrom() [1/2]

void CPoses2DSequence::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 28 of file CPoses2DSequence.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ 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 CPoses2DSequence::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 22 of file CPoses2DSequence.cpp.

◆ serializeTo() [1/2]

void CPoses2DSequence::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 23 of file CPoses2DSequence.cpp.

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

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◆ 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

◆ _init_CPoses2DSequence

mrpt::rtti::CLASSINIT mrpt::poses::CPoses2DSequence::_init_CPoses2DSequence
staticprotected

Definition at line 26 of file CPoses2DSequence.h.

◆ className

constexpr const char* mrpt::poses::CPoses2DSequence::className = "CPoses2DSequence"
static

Definition at line 26 of file CPoses2DSequence.h.

◆ poses

std::vector<CPose2D> mrpt::poses::CPoses2DSequence::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 88 of file CPoses2DSequence.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::poses::CPoses2DSequence::runtimeClassId
staticprotected

Definition at line 26 of file CPoses2DSequence.h.




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