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.
Definition at line 28 of file CPoses3DSequence.h.
#include <mrpt/poses/CPoses3DSequence.h>
Public Member Functions | |||
void * | operator new (size_t size) | ||
void * | operator new[] (size_t size) | ||
void | operator delete (void *ptr) throw () | ||
void | operator delete[] (void *ptr) throw () | ||
void | operator delete (void *memory, void *ptr) throw () | ||
void * | operator 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"
| |||
void | changePose (unsigned int ind, CPose3D &inPose) | ||
Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1"
| |||
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 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... | |||
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... | |||
CObject * | clone () const | ||
Cloning interface for smart pointers. More... | |||
Static Public Member Functions | |
static void * | operator 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::TPose3D > | m_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 | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CPoses3DSequence |
static mrpt::utils::TRuntimeClassId | classCPoses3DSequence |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
Returns information about the class of an object in runtime. More... | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. More... | |
static mrpt::utils::CObject * | CreateObject () |
static CPoses3DSequencePtr | Create () |
typedef CPoses3DSequencePtr mrpt::poses::CPoses3DSequence::SmartPtr |
A typedef for the associated smart pointer
Definition at line 31 of file CPoses3DSequence.h.
mrpt::poses::CPoses3DSequence::CPoses3DSequence | ( | ) |
Default constructor.
|
staticprotected |
CPose3D mrpt::poses::CPoses3DSequence::absolutePoseAfterAll | ( | ) |
A shortcut for "absolutePoseOf( posesCount() )".
CPose3D mrpt::poses::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.
std::exception | On invalid index value |
void mrpt::poses::CPoses3DSequence::appendPose | ( | CPose3D & | newPose | ) |
Appends a new pose at the end of sequence.
Remember that poses are relative, incremental to the last one.
void mrpt::poses::CPoses3DSequence::changePose | ( | unsigned int | ind, |
CPose3D & | inPose | ||
) |
Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1"
std::exception | On invalid index value. |
void mrpt::poses::CPoses3DSequence::clear | ( | ) |
Clears the sequence.
|
inlineinherited |
float mrpt::poses::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.
std::exception | On invalid index value |
float mrpt::poses::CPoses3DSequence::computeTraveledDistanceAfterAll | ( | ) |
Returns the traveled distance after ALL movements.
A shortcut for "computeTraveledDistanceAfter( posesCount() )".
|
static |
|
static |
|
virtual |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
|
inlineinherited |
void mrpt::poses::CPoses3DSequence::getPose | ( | unsigned int | ind, |
CPose3D & | outPose | ||
) |
Reads the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1"
std::exception | On invalid index value. |
|
virtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
|
inline |
Definition at line 31 of file CPoses3DSequence.h.
|
inline |
Definition at line 31 of file CPoses3DSequence.h.
|
inline |
Definition at line 31 of file CPoses3DSequence.h.
|
inline |
Definition at line 31 of file CPoses3DSequence.h.
|
inline |
Definition at line 31 of file CPoses3DSequence.h.
|
inline |
Definition at line 31 of file CPoses3DSequence.h.
|
inlinestatic |
Definition at line 31 of file CPoses3DSequence.h.
|
inline |
Definition at line 31 of file CPoses3DSequence.h.
size_t mrpt::poses::CPoses3DSequence::posesCount | ( | ) |
Returns the poses count in the sequence:
|
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.
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. |
std::exception | On any error, see CStream::ReadBuffer |
Implements mrpt::utils::CSerializable.
|
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.
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.
References BASE_IMPEXP, mrpt::utils::CSerializablePtr, DEFINE_MRPT_OBJECT_POST, mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), mrpt::utils::OctetVectorToObject(), mrpt::utils::RawStringToObject(), and mrpt::utils::StringToObject().
|
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.
out | The output binary stream where object must be dumped. |
getVersion | If 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. |
std::exception | On any error, see CStream::WriteBuffer |
Implements mrpt::utils::CSerializable.
|
staticprotected |
Definition at line 31 of file CPoses3DSequence.h.
|
staticinherited |
|
static |
Definition at line 31 of file CPoses3DSequence.h.
|
staticinherited |
Definition at line 42 of file CSerializable.h.
|
static |
Definition at line 31 of file CPoses3DSequence.h.
|
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.
Page generated by Doxygen 1.8.11 for MRPT 1.3.2 SVN: at Mon May 9 06:50:38 UTC 2016 |