class mrpt::nav::CLogFileRecord

Overview

A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationSystem class.

See also:

CReactiveNavigationSystem, CHolonomicLogFileRecord

#include <mrpt/nav/reactive/CLogFileRecord.h>

class CLogFileRecord: public mrpt::serialization::CSerializable
{
public:
    // structs

    struct TInfoPerPTG;

    // fields

    uint32_t nPTGs = 0;
    std::vector<TInfoPerPTG> infoPerPTG;
    int32_t nSelectedPTG = -1;
    std::map<std::string, double> values;
    std::map<std::string, mrpt::system::TTimeStamp> timestamps;
    std::map<std::string, std::string> additional_debug_msgs;
    mrpt::maps::CSimplePointsMap WS_Obstacles;
    mrpt::maps::CSimplePointsMap WS_Obstacles_original;
    mrpt::math::TPose2D robotPoseLocalization {0, 0, 0};
    mrpt::math::TPose2D robotPoseOdometry {0, 0, 0};
    mrpt::math::TPose2D relPoseSense {0, 0, 0};
    mrpt::math::TPose2D relPoseVelCmd {0, 0, 0};
    std::vector<mrpt::math::TPose2D> WS_targets_relative;
    mrpt::kinematics::CVehicleVelCmd::Ptr cmd_vel;
    mrpt::kinematics::CVehicleVelCmd::Ptr cmd_vel_original;
    mrpt::math::TTwist2D cur_vel {0, 0, 0};
    mrpt::math::TTwist2D cur_vel_local {0, 0, 0};
    mrpt::math::CVectorFloat robotShape_x;
    mrpt::math::CVectorFloat robotShape_y;
    double robotShape_radius {.0};
    int16_t ptg_index_NOP {-1};
    uint16_t ptg_last_k_NOP {0};
    mrpt::math::TPose2D rel_cur_pose_wrt_last_vel_cmd_NOP {0, 0, 0};
    mrpt::math::TPose2D rel_pose_PTG_origin_wrt_sense_NOP {0, 0, 0};
    std::vector<std::shared_ptr<mrpt::opengl::CSetOfObjects>> visuals;

    // construction

    CLogFileRecord();
};

Fields

uint32_t nPTGs = 0

The number of PTGS:

std::vector<TInfoPerPTG> infoPerPTG

The info for each applied PTG: must contain “nPTGs * nSecDistances” elements.

int32_t nSelectedPTG = -1

The selected PTG.

std::map<std::string, double> values

Known values:

  • “executionTime”: The total computation time, excluding sensing.

  • “estimatedExecutionPeriod”: The estimated execution period.

std::map<std::string, mrpt::system::TTimeStamp> timestamps

Known values:

  • “tim_start_iteration”: Time of start of navigationStep() implementation.

  • “tim_send_cmd_vel”: Time of sending cmdvel to robot.

  • “curPoseAndVel”: Time of querying robot pose and velocities.

std::map<std::string, std::string> additional_debug_msgs

Additional debug traces.

mrpt::maps::CSimplePointsMap WS_Obstacles

The WS-Obstacles (in the local robot frame of reference)

mrpt::math::TPose2D robotPoseLocalization {0, 0, 0}

The robot pose (from odometry and from the localization/SLAM system).

mrpt::math::TPose2D relPoseSense {0, 0, 0}

Relative poses (wrt to robotPoseLocalization) for extrapolated paths at two instants: time of obstacle sense, and future pose of motion command.

std::vector<mrpt::math::TPose2D> WS_targets_relative

The relative location of target(s) in Workspace (wrt the robot).

mrpt::kinematics::CVehicleVelCmd::Ptr cmd_vel

The final motion command sent to robot, in “m/sec” and “rad/sec”.

mrpt::kinematics::CVehicleVelCmd::Ptr cmd_vel_original

Motion command as comes out from the PTG, before scaling speed limit filtering.

mrpt::math::TTwist2D cur_vel {0, 0, 0}

The actual robot velocities in global (map) coordinates, as read from sensors, in “m/sec” and “rad/sec”.

mrpt::math::TTwist2D cur_vel_local {0, 0, 0}

The actual robot velocities in local (robot) coordinates, as read from sensors, in “m/sec” and “rad/sec”.

mrpt::math::CVectorFloat robotShape_x

The robot shape in WS.

Used by PTGs derived from mrpt::nav::CPTG_RobotShape_Polygonal

double robotShape_radius {.0}

The circular robot radius.

Used by PTGs derived from mrpt::nav::CPTG_RobotShape_Circular

int16_t ptg_index_NOP {-1}

Negative means no NOP mode evaluation, so the rest of “NOP variables” should be ignored.

std::vector<std::shared_ptr<mrpt::opengl::CSetOfObjects>> visuals

Additional visual entities that the source application wants to show in the navlog viewer UI.

All objects will be placed relative to the current robot pose. (New in MRPT 2.5.7)

Construction

CLogFileRecord()

Constructor, builds an empty record.