Detailed Description

Represents a probabilistic 3D (6D) movement.

Currently this can be determined from visual odometry for full 6D, or from wheel encoders for 2D movements only. Here implemented the motion model from the next article: A. L. Ballardini, A. Furlan, A. Galbiati, M. Matteucci, F. Sacchi, D. G. Sorrenti An effective 6DoF motion model for 3D-6DoF Monte Carlo Localization 4th Workshop on Planning, Perception and Navigation for Intelligent Vehicles, IROS, 2012

See also: CAction

Definition at line 29 of file CActionRobotMovement3D.h.

#include <mrpt/obs/CActionRobotMovement3D.h>

Inheritance diagram for mrpt::obs::CActionRobotMovement3D:

Classes
struct	TMotionModelOptions
	The parameter to be passed to "computeFromOdometry". More...

Public Types
enum	TEstimationMethod { emOdometry = 0, emVisualOdometry }
	A list of posible ways for estimating the content of a CActionRobotMovement3D object. More...

enum	TDrawSampleMotionModel { mmGaussian = 0, mm6DOF }

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

	CActionRobotMovement3D ()

void	computeFromOdometry (const mrpt::poses::CPose3D &odometryIncrement, const TMotionModelOptions &options)
	Computes the PDF of the pose increment from an odometry reading and according to the given motion model (speed and encoder ticks information is not modified). More...

void	computeFromOdometry_model6DOF (const mrpt::poses::CPose3D &odometryIncrement, const TMotionModelOptions &o)
	Computes the PDF of the pose increment from an odometry reading, using the motion model for 6 DOF. 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::poses::CPose3DPDFGaussian	poseChange
	The 3D pose change probabilistic estimation. More...

mrpt::poses::CPose3D	rawOdometryIncrementReading
	This is the raw odometry reading, and only is used when "estimationMethod" is "TEstimationMethod::emOdometry". More...

TEstimationMethod	estimationMethod
	This fields indicates the way this estimation was obtained. More...

struct mrpt::obs::CActionRobotMovement3D::TMotionModelOptions	motionModelConfiguration

std::vector< bool >	hasVelocities
	Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries. More...

mrpt::math::CVectorFloat	velocities
	The velocity of the robot in each of 6D: v_x,v_y,v_z,v_yaw,v_pitch,v_roll (linear in meters/sec and angular in rad/sec). More...

mrpt::system::TTimeStamp	timestamp {INVALID_TIMESTAMP}
	The associated time-stamp. 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...

RTTI stuff

using	Ptr = std::shared_ptr< CActionRobotMovement3D >

using	ConstPtr = std::shared_ptr< const CActionRobotMovement3D >

using	UniquePtr = std::unique_ptr< CActionRobotMovement3D >

using	ConstUniquePtr = std::unique_ptr< const CActionRobotMovement3D >

static mrpt::rtti::CLASSINIT	_init_CActionRobotMovement3D

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CActionRobotMovement3D"

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::CActionRobotMovement3D::ConstPtr = std::shared_ptr<const CActionRobotMovement3D >

Definition at line 31 of file CActionRobotMovement3D.h.

◆ ConstUniquePtr

using mrpt::obs::CActionRobotMovement3D::ConstUniquePtr = std::unique_ptr<const CActionRobotMovement3D >

Definition at line 31 of file CActionRobotMovement3D.h.

◆ Ptr

using mrpt::obs::CActionRobotMovement3D::Ptr = std::shared_ptr< CActionRobotMovement3D >

A type for the associated smart pointer

Definition at line 31 of file CActionRobotMovement3D.h.

◆ UniquePtr

using mrpt::obs::CActionRobotMovement3D::UniquePtr = std::unique_ptr< CActionRobotMovement3D >

Definition at line 31 of file CActionRobotMovement3D.h.

Member Enumeration Documentation

◆ TDrawSampleMotionModel

enum mrpt::obs::CActionRobotMovement3D::TDrawSampleMotionModel

Enumerator
mmGaussian
mm6DOF

Definition at line 58 of file CActionRobotMovement3D.h.

◆ TEstimationMethod

enum mrpt::obs::CActionRobotMovement3D::TEstimationMethod

A list of posible ways for estimating the content of a CActionRobotMovement3D object.

Enumerator
emOdometry
emVisualOdometry

Definition at line 37 of file CActionRobotMovement3D.h.

Constructor & Destructor Documentation

◆ CActionRobotMovement3D()

CActionRobotMovement3D::CActionRobotMovement3D ( )

Definition at line 27 of file CActionRobotMovement3D.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::obs::CActionRobotMovement3D::_GetBaseClass ( )

staticprotected

◆ clone()

virtual mrpt::rtti::CObject* mrpt::obs::CActionRobotMovement3D::clone ( ) const

overridevirtual

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

Implements mrpt::rtti::CObject.

◆ computeFromOdometry()

void CActionRobotMovement3D::computeFromOdometry	(	const mrpt::poses::CPose3D &	odometryIncrement,
		const TMotionModelOptions &	options
	)

Computes the PDF of the pose increment from an odometry reading and according to the given motion model (speed and encoder ticks information is not modified).

According to the parameters in the passed struct, it will be called one the private sampling functions (see "see also" next).

See also: computeFromOdometry_model6DOF

Definition at line 76 of file CActionRobotMovement3D.cpp.

References mrpt::obs::CActionRobotMovement3D::TMotionModelOptions::modelSelection.

◆ computeFromOdometry_model6DOF()

void CActionRobotMovement3D::computeFromOdometry_model6DOF	(	const mrpt::poses::CPose3D &	odometryIncrement,
		const TMotionModelOptions &	o
	)

Computes the PDF of the pose increment from an odometry reading, using the motion model for 6 DOF.

The source: A. L. Ballardini, A. Furlan, A. Galbiati, M. Matteucci, F. Sacchi, D. G. Sorrenti An effective 6DoF motion model for 3D-6DoF Monte Carlo Localization 4th Workshop on Planning, Perception and Navigation for Intelligent Vehicles, IROS, 2012

See also: computeFromOdometry

Definition at line 112 of file CActionRobotMovement3D.cpp.

◆ Create()

template<typename... Args>

static Ptr mrpt::obs::CActionRobotMovement3D::Create ( Args &&... args )

inlinestatic

Definition at line 31 of file CActionRobotMovement3D.h.

◆ CreateObject()

static mrpt::rtti::CObject* mrpt::obs::CActionRobotMovement3D::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::obs::CActionRobotMovement3D::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 31 of file CActionRobotMovement3D.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::obs::CActionRobotMovement3D::getClassName ( )

inlinestaticconstexpr

Definition at line 31 of file CActionRobotMovement3D.h.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::obs::CActionRobotMovement3D::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::obs::CAction.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::obs::CActionRobotMovement3D::GetRuntimeClassIdStatic ( )

static

◆ operator delete() [1/3]

void mrpt::obs::CActionRobotMovement3D::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 31 of file CActionRobotMovement3D.h.

◆ operator delete() [2/3]

void mrpt::obs::CActionRobotMovement3D::operator delete ( void * ptr )

inlinenoexcept

Definition at line 31 of file CActionRobotMovement3D.h.

◆ operator delete() [3/3]

void mrpt::obs::CActionRobotMovement3D::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 31 of file CActionRobotMovement3D.h.

◆ operator delete[]()

void mrpt::obs::CActionRobotMovement3D::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 31 of file CActionRobotMovement3D.h.

◆ operator new() [1/3]

void* mrpt::obs::CActionRobotMovement3D::operator new ( size_t size )

inline

Definition at line 31 of file CActionRobotMovement3D.h.

◆ operator new() [2/3]

void* mrpt::obs::CActionRobotMovement3D::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 31 of file CActionRobotMovement3D.h.

◆ operator new() [3/3]

static void* mrpt::obs::CActionRobotMovement3D::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 31 of file CActionRobotMovement3D.h.

◆ operator new[]()

void* mrpt::obs::CActionRobotMovement3D::operator new[] ( size_t size )

inline

Definition at line 31 of file CActionRobotMovement3D.h.

◆ serializeFrom()

void CActionRobotMovement3D::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 48 of file CActionRobotMovement3D.cpp.

References INVALID_TIMESTAMP, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeGetVersion()

uint8_t CActionRobotMovement3D::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 38 of file CActionRobotMovement3D.cpp.

◆ serializeTo()

void CActionRobotMovement3D::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 39 of file CActionRobotMovement3D.cpp.

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

◆ 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 70 of file CSerializable.h.

Member Data Documentation

◆ _init_CActionRobotMovement3D

mrpt::rtti::CLASSINIT mrpt::obs::CActionRobotMovement3D::_init_CActionRobotMovement3D

staticprotected

Definition at line 31 of file CActionRobotMovement3D.h.

◆ className

constexpr const char* mrpt::obs::CActionRobotMovement3D::className = "CActionRobotMovement3D"

staticconstexpr

Definition at line 31 of file CActionRobotMovement3D.h.

◆ estimationMethod

TEstimationMethod mrpt::obs::CActionRobotMovement3D::estimationMethod

This fields indicates the way this estimation was obtained.

Definition at line 56 of file CActionRobotMovement3D.h.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

◆ hasVelocities

std::vector<bool> mrpt::obs::CActionRobotMovement3D::hasVelocities

Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries.

Definition at line 112 of file CActionRobotMovement3D.h.

◆ motionModelConfiguration

struct mrpt::obs::CActionRobotMovement3D::TMotionModelOptions mrpt::obs::CActionRobotMovement3D::motionModelConfiguration

Referenced by computeFromOdometry_model6DOF().

◆ poseChange

mrpt::poses::CPose3DPDFGaussian mrpt::obs::CActionRobotMovement3D::poseChange

The 3D pose change probabilistic estimation.

It can be converted to/from these alternative classes:

mrpt::poses::CPose3DQuatPDFGaussian

Definition at line 49 of file CActionRobotMovement3D.h.

Referenced by computeFromOdometry_model6DOF(), mrpt::slam::CRangeBearingKFSLAM2D::OnGetAction(), mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfStandardProposal(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

◆ rawOdometryIncrementReading

mrpt::poses::CPose3D mrpt::obs::CActionRobotMovement3D::rawOdometryIncrementReading

This is the raw odometry reading, and only is used when "estimationMethod" is "TEstimationMethod::emOdometry".

Definition at line 53 of file CActionRobotMovement3D.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::obs::CActionRobotMovement3D::runtimeClassId

staticprotected

Definition at line 31 of file CActionRobotMovement3D.h.

◆ timestamp

mrpt::system::TTimeStamp mrpt::obs::CAction::timestamp {INVALID_TIMESTAMP}

inherited

The associated time-stamp.

Definition at line 36 of file CAction.h.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

◆ velocities

mrpt::math::CVectorFloat mrpt::obs::CActionRobotMovement3D::velocities

The velocity of the robot in each of 6D: v_x,v_y,v_z,v_yaw,v_pitch,v_roll (linear in meters/sec and angular in rad/sec).

Definition at line 118 of file CActionRobotMovement3D.h.

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Member Enumeration Documentation

◆ TDrawSampleMotionModel

◆ TEstimationMethod

Constructor & Destructor Documentation

◆ CActionRobotMovement3D()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ computeFromOdometry()

◆ computeFromOdometry_model6DOF()

◆ Create()

◆ CreateObject()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ getClassName()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ 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[]()

◆ serializeFrom()

◆ serializeGetVersion()

◆ serializeTo()

◆ writeToMatlab()

Member Data Documentation

◆ _init_CActionRobotMovement3D

◆ className

◆ estimationMethod

◆ hasVelocities

◆ motionModelConfiguration

◆ poseChange

◆ rawOdometryIncrementReading

◆ runtimeClassId

◆ timestamp

◆ velocities