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mrpt::slam::CActionRobotMovement2D Class Reference

Represents a probabilistic 2D movement of the robot mobile base. More...

#include <mrpt/slam/CActionRobotMovement2D.h>

Inheritance diagram for mrpt::slam::CActionRobotMovement2D:

mrpt::slam::CAction mrpt::utils::CSerializable

List of all members.

Classes

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

Public Types

enum  TEstimationMethod { emOdometry = 0, emScan2DMatching }
 A list of posible ways for estimating the content of a CActionRobotMovement2D object. More...
enum  TDrawSampleMotionModel { mmGaussian = 0, mmThrun }

Public Member Functions

 CActionRobotMovement2D ()
 Constructor.
 CActionRobotMovement2D (const CActionRobotMovement2D &o)
 Copy constructor.
CActionRobotMovement2Doperator= (const CActionRobotMovement2D &o)
 Copy operator.
 ~CActionRobotMovement2D ()
 Destructor.
void computeFromOdometry (const CPose2D &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).
void computeFromEncoders (double K_left, double K_right, double D)
 If "hasEncodersInfo"=true, this method updates the pose estimation according to the ticks from both encoders and the passed parameters, which is passed internally to the method "computeFromOdometry" with the last used PDF options (or the defualt ones if not explicitly called by the user).
void drawSingleSample (CPose2D &outSample) const
 Using this method instead of "poseChange->drawSingleSample()" may be more efficient in most situations.
void prepareFastDrawSingleSamples () const
 Call this before calling a high number of times "fastDrawSingleSample", which is much faster than "drawSingleSample".
void fastDrawSingleSample (CPose2D &outSample) const
 Faster version than "drawSingleSample", but requires a previous call to "prepareFastDrawSingleSamples".

Public Attributes

CPosePDFPtr poseChange
 The 2D pose change probabilistic estimation.
CPose2D rawOdometryIncrementReading
 This is the raw odometry reading, and only is used when "estimationMethod" is "TEstimationMethod::emOdometry".
TEstimationMethod estimationMethod
 This fields indicates the way this estimation was obtained.
bool hasEncodersInfo
 If "true" means that "encoderLeftTicks" and "encoderRightTicks" contain valid values.
int32_t encoderLeftTicks
 For odometry only: the ticks count for each wheel FROM the last reading (positive means FORWARD, for both wheels);.
int32_t encoderRightTicks
bool hasVelocities
 If "true" means that "velocityLin" and "velocityAng" contain valid values.
float velocityLin
 The velocity of the robot, linear in meters/sec and angular in rad/sec.
float velocityAng
struct MRPTDLLIMPEXP
mrpt::slam::CActionRobotMovement2D::TMotionModelOptions 
motionModelConfiguration
 The parameter to be passed to "computeFromOdometry".

Protected Member Functions

void computeFromOdometry_modelGaussian (const CPose2D &odometryIncrement, const TMotionModelOptions &o)
 Computes the PDF of the pose increment from an odometry reading, using a Gaussian approximation as the motion model.
void computeFromOdometry_modelThrun (const CPose2D &odometryIncrement, const TMotionModelOptions &o)
 Computes the PDF of the pose increment from an odometry reading, using the motion model from Thrun's book.
void drawSingleSample_modelGaussian (CPose2D &outSample) const
 The sample generator for the model "computeFromOdometry_modelGaussian", internally called when the user invokes "drawSingleSample".
void drawSingleSample_modelThrun (CPose2D &outSample) const
 The sample generator for the model "computeFromOdometry_modelThrun", internally called when the user invokes "drawSingleSample".
void prepareFastDrawSingleSample_modelGaussian () const
 Internal use.
void prepareFastDrawSingleSample_modelThrun () const
 Internal use.
void fastDrawSingleSample_modelGaussian (CPose2D &outSample) const
 Internal use.
void fastDrawSingleSample_modelThrun (CPose2D &outSample) const
 Internal use.

Protected Attributes

CMatrixD m_fastDrawGauss_Z
 Auxiliary matrix.
CPose2D m_fastDrawGauss_M


Detailed Description

Represents a probabilistic 2D movement of the robot mobile base.

See the tutorial on probabilistic motion models.

See also:
CAction

Definition at line 52 of file CActionRobotMovement2D.h.


Member Enumeration Documentation

Enumerator:
mmGaussian 
mmThrun 

Definition at line 111 of file CActionRobotMovement2D.h.

A list of posible ways for estimating the content of a CActionRobotMovement2D object.

Enumerator:
emOdometry 
emScan2DMatching 

Definition at line 60 of file CActionRobotMovement2D.h.


Constructor & Destructor Documentation

mrpt::slam::CActionRobotMovement2D::CActionRobotMovement2D (  ) 

Constructor.

mrpt::slam::CActionRobotMovement2D::CActionRobotMovement2D ( const CActionRobotMovement2D o  ) 

Copy constructor.

mrpt::slam::CActionRobotMovement2D::~CActionRobotMovement2D (  ) 

Destructor.


Member Function Documentation

void mrpt::slam::CActionRobotMovement2D::computeFromEncoders ( double  K_left,
double  K_right,
double  D 
)

If "hasEncodersInfo"=true, this method updates the pose estimation according to the ticks from both encoders and the passed parameters, which is passed internally to the method "computeFromOdometry" with the last used PDF options (or the defualt ones if not explicitly called by the user).

Parameters:
K_left The meters / tick ratio for the left encoder.
K_right The meters / tick ratio for the right encoder.
D The distance between both wheels, in meters.

void mrpt::slam::CActionRobotMovement2D::computeFromOdometry ( const CPose2D 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_modelGaussian, computeFromOdometry_modelThrun

void mrpt::slam::CActionRobotMovement2D::computeFromOdometry_modelGaussian ( const CPose2D odometryIncrement,
const TMotionModelOptions o 
) [protected]

Computes the PDF of the pose increment from an odometry reading, using a Gaussian approximation as the motion model.

See also:
computeFromOdometry

void mrpt::slam::CActionRobotMovement2D::computeFromOdometry_modelThrun ( const CPose2D odometryIncrement,
const TMotionModelOptions o 
) [protected]

Computes the PDF of the pose increment from an odometry reading, using the motion model from Thrun's book.

This model is discussed in "Probabilistic Robotics", Thrun, Burgard, and Fox, 2006, pp.136.

See also:
computeFromOdometry

void mrpt::slam::CActionRobotMovement2D::drawSingleSample ( CPose2D outSample  )  const

Using this method instead of "poseChange->drawSingleSample()" may be more efficient in most situations.

See also:
CPosePDF::drawSingleSample

void mrpt::slam::CActionRobotMovement2D::drawSingleSample_modelGaussian ( CPose2D outSample  )  const [protected]

The sample generator for the model "computeFromOdometry_modelGaussian", internally called when the user invokes "drawSingleSample".

void mrpt::slam::CActionRobotMovement2D::drawSingleSample_modelThrun ( CPose2D outSample  )  const [protected]

The sample generator for the model "computeFromOdometry_modelThrun", internally called when the user invokes "drawSingleSample".

void mrpt::slam::CActionRobotMovement2D::fastDrawSingleSample ( CPose2D outSample  )  const

Faster version than "drawSingleSample", but requires a previous call to "prepareFastDrawSingleSamples".

void mrpt::slam::CActionRobotMovement2D::fastDrawSingleSample_modelGaussian ( CPose2D outSample  )  const [protected]

Internal use.

void mrpt::slam::CActionRobotMovement2D::fastDrawSingleSample_modelThrun ( CPose2D outSample  )  const [protected]

Internal use.

CActionRobotMovement2D& mrpt::slam::CActionRobotMovement2D::operator= ( const CActionRobotMovement2D o  ) 

Copy operator.

void mrpt::slam::CActionRobotMovement2D::prepareFastDrawSingleSample_modelGaussian (  )  const [protected]

Internal use.

void mrpt::slam::CActionRobotMovement2D::prepareFastDrawSingleSample_modelThrun (  )  const [protected]

Internal use.

void mrpt::slam::CActionRobotMovement2D::prepareFastDrawSingleSamples (  )  const

Call this before calling a high number of times "fastDrawSingleSample", which is much faster than "drawSingleSample".


Member Data Documentation

For odometry only: the ticks count for each wheel FROM the last reading (positive means FORWARD, for both wheels);.

See also:
hasEncodersInfo

Definition at line 101 of file CActionRobotMovement2D.h.

Definition at line 101 of file CActionRobotMovement2D.h.

This fields indicates the way this estimation was obtained.

Definition at line 92 of file CActionRobotMovement2D.h.

If "true" means that "encoderLeftTicks" and "encoderRightTicks" contain valid values.

Definition at line 96 of file CActionRobotMovement2D.h.

If "true" means that "velocityLin" and "velocityAng" contain valid values.

Definition at line 105 of file CActionRobotMovement2D.h.

Definition at line 232 of file CActionRobotMovement2D.h.

Auxiliary matrix.

Definition at line 231 of file CActionRobotMovement2D.h.

The parameter to be passed to "computeFromOdometry".

The 2D pose change probabilistic estimation.

Definition at line 84 of file CActionRobotMovement2D.h.

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

Definition at line 88 of file CActionRobotMovement2D.h.

Definition at line 109 of file CActionRobotMovement2D.h.

The velocity of the robot, linear in meters/sec and angular in rad/sec.

Definition at line 109 of file CActionRobotMovement2D.h.




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