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 66 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 *	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

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...

virtual	~CRawlog ()
	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 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 for polymorphic hierarchies
mrpt::rtti::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)

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...

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::TRuntimeClassId &	GetRuntimeClassIdStatic ()

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

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

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

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

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 68 of file CRawlog.h.

◆ ConstUniquePtr

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

Definition at line 68 of file CRawlog.h.

◆ Ptr

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

A type for the associated smart pointer

Definition at line 68 of file CRawlog.h.

◆ TListObjects

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

private

Definition at line 71 of file CRawlog.h.

◆ UniquePtr

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

Definition at line 68 of file CRawlog.h.

Member Enumeration Documentation

◆ TEntryType

enum mrpt::obs::CRawlog::TEntryType

The type of each entry in a rawlog.

See also: CRawlog::getType

Enumerator
etSensoryFrame
etActionCollection
etObservation
etOther

Definition at line 93 of file CRawlog.h.

Constructor & Destructor Documentation

◆ CRawlog()

CRawlog::CRawlog ( )

Default constructor.

Definition at line 29 of file CRawlog.cpp.

◆ ~CRawlog()

CRawlog::~CRawlog ( )

virtual

Destructor:

Definition at line 31 of file CRawlog.cpp.

References mrpt::containers::clear().

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 80 of file CRawlog.cpp.

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

◆ 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 45 of file CRawlog.cpp.

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

◆ 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 52 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 62 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 67 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().

◆ 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 57 of file CRawlog.cpp.

◆ begin() [1/2]

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

inline

Definition at line 343 of file CRawlog.h.

References m_seqOfActObs.

◆ begin() [2/2]

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

inline

Definition at line 344 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().

◆ 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 68 of file CRawlog.h.

◆ CreateObject()

static mrpt::rtti::CObject* mrpt::obs::CRawlog::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::obs::CRawlog::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 68 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 557 of file CRawlog.cpp.

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

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

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).

Definition at line 168 of file CObject.h.

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

Referenced by addActions(), and addObservations().

◆ end() [1/2]

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

inline

Definition at line 345 of file CRawlog.h.

References m_seqOfActObs.

◆ end() [2/2]

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

inline

Definition at line 346 of file CRawlog.h.

References m_seqOfActObs.

◆ erase()

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

inline

Definition at line 347 of file CRawlog.h.

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

◆ 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 435 of file CRawlog.cpp.

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

◆ 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 516 of file CRawlog.cpp.

Referenced by run_test_pf_localization().

◆ 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 373 of file CRawlog.cpp.

References CLASS_ID, IS_CLASS, and IS_DERIVED.

◆ 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::exception If index is out of bounds

Definition at line 89 of file CRawlog.cpp.

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

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

◆ 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::exception If index is out of bounds

Definition at line 121 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::exception If index is out of bounds

Definition at line 105 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().

◆ 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::exception If index is out of bounds

Definition at line 149 of file CRawlog.cpp.

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

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

◆ getClassName()

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

inlinestatic

Definition at line 68 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 548 of file CRawlog.cpp.

◆ getCommentText() [2/2]

std::string CRawlog::getCommentText ( ) const

Returns the block of comment text for the rawlog.

Definition at line 549 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 550 of file CRawlog.cpp.

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

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

◆ 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 130 of file CRawlog.cpp.

References CLASS_ID, MRPT_END, MRPT_START, and THROW_EXCEPTION.

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

◆ 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 190 of file CRawlog.cpp.

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

Referenced by run_test_pf_localization(), and TEST().

◆ operator delete() [1/3]

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

inlinenoexcept

Definition at line 68 of file CRawlog.h.

◆ operator delete() [2/3]

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

inlinenoexcept

Definition at line 68 of file CRawlog.h.

◆ operator delete() [3/3]

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

inlinenoexcept

Definition at line 68 of file CRawlog.h.

◆ operator delete[]()

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

inlinenoexcept

Definition at line 68 of file CRawlog.h.

◆ operator new() [1/3]

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

inline

Definition at line 68 of file CRawlog.h.

◆ operator new() [2/3]

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

inlinenoexcept

Definition at line 68 of file CRawlog.h.

◆ operator new() [3/3]

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

inlinestatic

Definition at line 68 of file CRawlog.h.

◆ operator new[]()

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

inline

Definition at line 68 of file CRawlog.h.

◆ 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 314 of file CRawlog.cpp.

References CLASS_ID.

◆ remove() [1/2]

void CRawlog::remove ( size_t index )

Delete the action or observation stored in the given index.

Exceptions

std::exception If index is out of bounds

Definition at line 270 of file CRawlog.cpp.

References MRPT_END, MRPT_START, and THROW_EXCEPTION.

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

◆ 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::exception If any index is out of bounds

Definition at line 278 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 290 of file CRawlog.cpp.

References mrpt::serialization::archiveFrom().

◆ serializeFrom()

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

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 I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 172 of file CRawlog.cpp.

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

◆ 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 164 of file CRawlog.cpp.

◆ serializeTo()

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::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 165 of file CRawlog.cpp.

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

◆ setCommentText()

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

Changes the block of comment text for the rawlog.

Definition at line 556 of file CRawlog.cpp.

◆ size()

size_t CRawlog::size ( ) const

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

Definition at line 88 of file CRawlog.cpp.

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

◆ swap()

void CRawlog::swap ( CRawlog & obj )

Efficiently swap the contents of two existing objects.

Definition at line 307 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 68 of file CSerializable.h.

Member Data Documentation

◆ _init_CRawlog

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

staticprotected

Definition at line 68 of file CRawlog.h.

◆ className

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

static

Definition at line 68 of file CRawlog.h.

◆ m_commentTexts

CObservationComment mrpt::obs::CRawlog::m_commentTexts

private

Comments of the rawlog.

Definition at line 76 of file CRawlog.h.

◆ m_seqOfActObs

TListObjects mrpt::obs::CRawlog::m_seqOfActObs

private

The list where the objects really are in.

Definition at line 73 of file CRawlog.h.

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

◆ runtimeClassId

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

staticprotected

Definition at line 68 of file CRawlog.h.

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Types

Private Attributes

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ TListObjects

◆ UniquePtr

Member Enumeration Documentation

◆ TEntryType

Constructor & Destructor Documentation

◆ CRawlog()

◆ ~CRawlog()

Member Function Documentation

◆ _GetBaseClass()

◆ addAction()

◆ addActions()

◆ addActionsMemoryReference()

◆ addGenericObject()

◆ addObservationMemoryReference()

◆ addObservations()

◆ addObservationsMemoryReference()

◆ begin() [1/2]

◆ begin() [2/2]

◆ clear()

◆ clone()

◆ Create()

◆ CreateObject()

◆ CreateUnique()

◆ detectImagesDirectory()

◆ duplicateGetSmartPtr()

◆ end() [1/2]

◆ end() [2/2]

◆ erase()

◆ findObservationsByClassInRange()

◆ getActionObservationPair()

◆ getActionObservationPairOrObservation()

◆ getAsAction()

◆ getAsGeneric()

◆ getAsObservation()

◆ getAsObservations()

◆ getClassName()

◆ getCommentText() [1/2]

◆ getCommentText() [2/2]

◆ getCommentTextAsConfigFile()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getType()

◆ loadFromRawLogFile()

◆ 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[]()

◆ readActionObservationPair()

◆ remove() [1/2]

◆ remove() [2/2]

◆ saveToRawLogFile()

◆ serializeFrom()

◆ serializeGetVersion()

◆ serializeTo()

◆ setCommentText()

◆ size()

◆ swap()

◆ writeToMatlab()

Member Data Documentation

◆ _init_CRawlog

◆ className

◆ m_commentTexts

◆ m_seqOfActObs