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mrpt::poses::CPoses3DSequence Class Reference

Detailed Description

This class stores a sequence of relative, incremental 3D 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
CPose3D, CMultiMetricMap

Definition at line 28 of file CPoses3DSequence.h.

#include <mrpt/poses/CPoses3DSequence.h>

Inheritance diagram for mrpt::poses::CPoses3DSequence:
Inheritance graph

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
voidoperator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 CPoses3DSequence ()
 Default constructor. More...
 
size_t posesCount ()
 Returns the poses count in the sequence: More...
 
void getPose (unsigned int ind, CPose3D &outPose)
 Reads the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1". More...
 
void changePose (unsigned int ind, CPose3D &inPose)
 Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1". More...
 
void appendPose (CPose3D &newPose)
 Appends a new pose at the end of sequence. More...
 
void clear ()
 Clears the sequence. More...
 
CPose3D 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...
 
CPose3D 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...
 
CObjectclone () const
 Cloning interface for smart pointers. More...
 
RTTI classes and functions
mrpt::utils::CObjectPtr 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 voidoperator new (size_t size, void *ptr)
 

Static Public Attributes

static const mrpt::utils::TRuntimeClassId classCObject
 
RTTI stuff
static const mrpt::utils::TRuntimeClassId classCSerializable
 

Protected Member Functions

CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 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...
 

Private Attributes

std::vector< mrpt::math::TPose3Dm_poses
 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

typedef CPoses3DSequencePtr Ptr
 
typedef CPoses3DSequencePtr ConstPtr
 
static mrpt::utils::CLASSINIT _init_CPoses3DSequence
 
static mrpt::utils::TRuntimeClassId classCPoses3DSequence
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CPoses3DSequencePtr Create ()
 

Member Typedef Documentation

◆ ConstPtr

typedef CPoses3DSequencePtr mrpt::poses::CPoses3DSequence::ConstPtr

Definition at line 31 of file CPoses3DSequence.h.

◆ Ptr

typedef CPoses3DSequencePtr mrpt::poses::CPoses3DSequence::Ptr

A typedef for the associated smart pointer

Definition at line 31 of file CPoses3DSequence.h.

Constructor & Destructor Documentation

◆ CPoses3DSequence()

CPoses3DSequence::CPoses3DSequence ( )

Default constructor.

Definition at line 25 of file CPoses3DSequence.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoses3DSequence::_GetBaseClass ( )
staticprotected

◆ absolutePoseAfterAll()

CPose3D CPoses3DSequence::absolutePoseAfterAll ( )

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

See also
absolutePoseOf, posesCount

Definition at line 137 of file CPoses3DSequence.cpp.

◆ absolutePoseOf()

CPose3D CPoses3DSequence::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 121 of file CPoses3DSequence.cpp.

References THROW_EXCEPTION.

◆ appendPose()

void CPoses3DSequence::appendPose ( CPose3D newPose)

Appends a new pose at the end of sequence.

Remember that poses are relative, incremental to the last one.

Definition at line 103 of file CPoses3DSequence.cpp.

◆ changePose()

void CPoses3DSequence::changePose ( unsigned int  ind,
CPose3D 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 94 of file CPoses3DSequence.cpp.

References THROW_EXCEPTION.

◆ clear()

void CPoses3DSequence::clear ( )

Clears the sequence.

Definition at line 111 of file CPoses3DSequence.cpp.

◆ clone()

CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

◆ computeTraveledDistanceAfter()

float CPoses3DSequence::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 146 of file CPoses3DSequence.cpp.

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

◆ computeTraveledDistanceAfterAll()

float CPoses3DSequence::computeTraveledDistanceAfterAll ( )

Returns the traveled distance after ALL movements.

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

See also
computeTraveledDistanceAfter

Definition at line 161 of file CPoses3DSequence.cpp.

◆ Create()

static CPoses3DSequencePtr mrpt::poses::CPoses3DSequence::Create ( )
static

◆ CreateObject()

static mrpt::utils::CObject* mrpt::poses::CPoses3DSequence::CreateObject ( )
static

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::poses::CPoses3DSequence::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr 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 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

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

◆ getPose()

void CPoses3DSequence::getPose ( unsigned int  ind,
CPose3D 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 84 of file CPoses3DSequence.cpp.

References THROW_EXCEPTION.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoses3DSequence::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ operator delete() [1/3]

void mrpt::poses::CPoses3DSequence::operator delete ( void ptr)
throw (
)
inline

Definition at line 31 of file CPoses3DSequence.h.

◆ operator delete() [2/3]

void mrpt::poses::CPoses3DSequence::operator delete ( void ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 31 of file CPoses3DSequence.h.

◆ operator delete() [3/3]

void mrpt::poses::CPoses3DSequence::operator delete ( void memory,
void ptr 
)
throw (
)
inline

Definition at line 31 of file CPoses3DSequence.h.

◆ operator delete[]()

void mrpt::poses::CPoses3DSequence::operator delete[] ( void ptr)
throw (
)
inline

Definition at line 31 of file CPoses3DSequence.h.

◆ operator new() [1/3]

void* mrpt::poses::CPoses3DSequence::operator new ( size_t  size)
inline

Definition at line 31 of file CPoses3DSequence.h.

◆ operator new() [2/3]

void* mrpt::poses::CPoses3DSequence::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 31 of file CPoses3DSequence.h.

◆ operator new() [3/3]

static void* mrpt::poses::CPoses3DSequence::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 31 of file CPoses3DSequence.h.

◆ operator new[]()

void* mrpt::poses::CPoses3DSequence::operator new[] ( size_t  size)
inline

Definition at line 31 of file CPoses3DSequence.h.

◆ posesCount()

size_t CPoses3DSequence::posesCount ( )

Returns the poses count in the sequence:

Definition at line 34 of file CPoses3DSequence.cpp.

◆ readFromStream()

void CPoses3DSequence::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

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
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 error, see CStream::ReadBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 62 of file CPoses3DSequence.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

◆ 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 NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

◆ writeToStream()

void CPoses3DSequence::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protectedvirtual

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
outThe output binary stream where object must be dumped.
getVersionIf NULL, 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::exceptionOn any error, see CStream::WriteBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 43 of file CPoses3DSequence.cpp.

References version.

Member Data Documentation

◆ _init_CPoses3DSequence

mrpt::utils::CLASSINIT mrpt::poses::CPoses3DSequence::_init_CPoses3DSequence
staticprotected

Definition at line 31 of file CPoses3DSequence.h.

◆ classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 118 of file CObject.h.

◆ classCPoses3DSequence

mrpt::utils::TRuntimeClassId mrpt::poses::CPoses3DSequence::classCPoses3DSequence
static

Definition at line 31 of file CPoses3DSequence.h.

◆ classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoses3DSequence::classinfo
static

Definition at line 31 of file CPoses3DSequence.h.

◆ m_poses

std::vector<mrpt::math::TPose3D> mrpt::poses::CPoses3DSequence::m_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 CPoses3DSequence.h.




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