Detailed Description

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

See also: CReactiveNavigationSystem, CHolonomicLogFileRecord

Definition at line 32 of file CLogFileRecord.h.

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

Inheritance diagram for mrpt::nav::CLogFileRecord:

Classes
struct	TInfoPerPTG
	The structure used to store all relevant information about each transformation into TP-Space. 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

	CLogFileRecord ()
	Constructor, builds an empty record. 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...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

Public Attributes
mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState	navDynState

uint32_t	nPTGs
	The number of PTGS: More...

mrpt::aligned_std_vector< TInfoPerPTG >	infoPerPTG
	The info for each applied PTG: must contain "nPTGs * nSecDistances" elements. More...

int32_t	nSelectedPTG
	The selected PTG. More...

std::map< std::string, double >	values
	Known values: More...

std::map< std::string, mrpt::system::TTimeStamp >	timestamps
	Known values: More...

std::map< std::string, std::string >	additional_debug_msgs
	Additional debug traces. More...

mrpt::maps::CSimplePointsMap	WS_Obstacles
	The WS-Obstacles. More...

mrpt::maps::CSimplePointsMap	WS_Obstacles_original

mrpt::math::TPose2D	robotPoseLocalization
	The robot pose (from odometry and from the localization/SLAM system). More...

mrpt::math::TPose2D	robotPoseOdometry

mrpt::math::TPose2D	relPoseSense

mrpt::math::TPose2D	relPoseVelCmd

std::vector< mrpt::math::TPose2D >	WS_targets_relative
	Relative poses (wrt to robotPoseLocalization) for. More...

mrpt::kinematics::CVehicleVelCmd::Ptr	cmd_vel
	The final motion command sent to robot, in "m/sec" and "rad/sec". More...

mrpt::kinematics::CVehicleVelCmd::Ptr	cmd_vel_original
	Motion command as comes out from the PTG, before scaling speed limit filtering. More...

mrpt::math::TTwist2D	cur_vel
	The actual robot velocities in global (map) coordinates, as read from sensors, in "m/sec" and "rad/sec". More...

mrpt::math::TTwist2D	cur_vel_local
	The actual robot velocities in local (robot) coordinates, as read from sensors, in "m/sec" and "rad/sec". More...

mrpt::math::CVectorFloat	robotShape_x
	The robot shape in WS. More...

mrpt::math::CVectorFloat	robotShape_y

double	robotShape_radius
	The circular robot radius. More...

int16_t	ptg_index_NOP
	Negative means no NOP mode evaluation, so the rest of "NOP variables" should be ignored. More...

uint16_t	ptg_last_k_NOP

mrpt::math::TPose2D	rel_cur_pose_wrt_last_vel_cmd_NOP

mrpt::math::TPose2D	rel_pose_PTG_origin_wrt_sense_NOP

mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState	ptg_last_navDynState

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...

RTTI stuff

using	Ptr = std::shared_ptr< CLogFileRecord >

using	ConstPtr = std::shared_ptr< const CLogFileRecord >

using	UniquePtr = std::unique_ptr< CLogFileRecord >

using	ConstUniquePtr = std::unique_ptr< const CLogFileRecord >

static mrpt::rtti::CLASSINIT	_init_CLogFileRecord

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CLogFileRecord"

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::nav::CLogFileRecord::ConstPtr = std::shared_ptr<const CLogFileRecord >

Definition at line 34 of file CLogFileRecord.h.

◆ ConstUniquePtr

using mrpt::nav::CLogFileRecord::ConstUniquePtr = std::unique_ptr<const CLogFileRecord >

Definition at line 34 of file CLogFileRecord.h.

◆ Ptr

using mrpt::nav::CLogFileRecord::Ptr = std::shared_ptr< CLogFileRecord >

A type for the associated smart pointer

Definition at line 34 of file CLogFileRecord.h.

◆ UniquePtr

using mrpt::nav::CLogFileRecord::UniquePtr = std::unique_ptr< CLogFileRecord >

Definition at line 34 of file CLogFileRecord.h.

Constructor & Destructor Documentation

◆ CLogFileRecord()

CLogFileRecord::CLogFileRecord ( )

Constructor, builds an empty record.

Definition at line 26 of file CLogFileRecord.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::nav::CLogFileRecord::_GetBaseClass ( )

staticprotected

◆ clone()

virtual mrpt::rtti::CObject* mrpt::nav::CLogFileRecord::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::nav::CLogFileRecord::Create ( Args &&... args )

inlinestatic

Definition at line 34 of file CLogFileRecord.h.

◆ CreateObject()

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

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::nav::CLogFileRecord::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 34 of file CLogFileRecord.h.

◆ 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 169 of file CObject.h.

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

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

◆ getClassName()

static constexpr auto mrpt::nav::CLogFileRecord::getClassName ( )

inlinestaticconstexpr

Definition at line 34 of file CLogFileRecord.h.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::nav::CLogFileRecord::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::nav::CLogFileRecord::GetRuntimeClassIdStatic ( )

static

◆ operator delete() [1/3]

void mrpt::nav::CLogFileRecord::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 34 of file CLogFileRecord.h.

◆ operator delete() [2/3]

void mrpt::nav::CLogFileRecord::operator delete ( void * ptr )

inlinenoexcept

Definition at line 34 of file CLogFileRecord.h.

◆ operator delete() [3/3]

void mrpt::nav::CLogFileRecord::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 34 of file CLogFileRecord.h.

◆ operator delete[]()

void mrpt::nav::CLogFileRecord::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 34 of file CLogFileRecord.h.

◆ operator new() [1/3]

void* mrpt::nav::CLogFileRecord::operator new ( size_t size )

inline

Definition at line 34 of file CLogFileRecord.h.

◆ operator new() [2/3]

void* mrpt::nav::CLogFileRecord::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 34 of file CLogFileRecord.h.

◆ operator new() [3/3]

static void* mrpt::nav::CLogFileRecord::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 34 of file CLogFileRecord.h.

◆ operator new[]()

void* mrpt::nav::CLogFileRecord::operator new[] ( size_t size )

inline

Definition at line 34 of file CLogFileRecord.h.

◆ serializeFrom()

void CLogFileRecord::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 138 of file CLogFileRecord.cpp.

References additional_debug_msgs, mrpt::poses::CPose2D::asTPose(), cmd_vel, cmd_vel_original, cur_vel, cur_vel_local, mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::curVelLocal, mrpt::format(), infoPerPTG, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, navDynState, nPTGs, nSelectedPTG, ptg_index_NOP, ptg_last_k_NOP, ptg_last_navDynState, mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::readFromStream(), rel_cur_pose_wrt_last_vel_cmd_NOP, rel_pose_PTG_origin_wrt_sense_NOP, relPoseSense, relPoseVelCmd, mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::relTarget, robotPoseLocalization, robotPoseOdometry, robotShape_radius, robotShape_x, robotShape_y, timestamps, WS_Obstacles, WS_Obstacles_original, and WS_targets_relative.

◆ serializeGetVersion()

uint8_t CLogFileRecord::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 46 of file CLogFileRecord.cpp.

◆ serializeTo()

void CLogFileRecord::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 47 of file CLogFileRecord.cpp.

References additional_debug_msgs, cmd_vel, cmd_vel_original, cur_vel, cur_vel_local, infoPerPTG, navDynState, nPTGs, nSelectedPTG, ptg_index_NOP, ptg_last_k_NOP, ptg_last_navDynState, rel_cur_pose_wrt_last_vel_cmd_NOP, rel_pose_PTG_origin_wrt_sense_NOP, relPoseSense, relPoseVelCmd, robotPoseLocalization, robotPoseOdometry, robotShape_radius, robotShape_x, robotShape_y, timestamps, mrpt::serialization::CArchive::WriteBuffer(), mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState::writeToStream(), WS_Obstacles, WS_Obstacles_original, and WS_targets_relative.

◆ 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.