MRPT logo

mrpt::poses::CPoses3DSequence Class Reference

This class stores a sequence of relative, incremental 3D poses. More...

#include <mrpt/poses/CPoses3DSequence.h>

Inheritance diagram for mrpt::poses::CPoses3DSequence:

mrpt::utils::CSerializable

List of all members.

Public Member Functions

 CPoses3DSequence ()
 Default constructor.
size_t posesCount ()
 Returns the poses count in the sequence:.
void 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::exception On invalid index value.

void 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::exception On invalid index value.

void appendPose (CPose3D &newPose)
 Appends a new pose at the end of sequence.
void clear ()
 Clears the sequence.
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.
CPose3D absolutePoseAfterAll ()
 A shortcut for "absolutePoseOf( posesCount() )".
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.
float computeTraveledDistanceAfterAll ()
 Returns the traveled distance after ALL movements.

Private Attributes

std::vector< CPose3Dposes
 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).


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 46 of file CPoses3DSequence.h.


Constructor & Destructor Documentation

mrpt::poses::CPoses3DSequence::CPoses3DSequence (  ) 

Default constructor.


Member Function Documentation

CPose3D mrpt::poses::CPoses3DSequence::absolutePoseAfterAll (  ) 

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

See also:
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.

Exceptions:
std::exception On invalid index value
See also:
absolutePoseAfterAll

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"

Exceptions:
std::exception On invalid index value.

void mrpt::poses::CPoses3DSequence::clear (  ) 

Clears the sequence.

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.

Exceptions:
std::exception On invalid index value
See also:
computeTraveledDistanceAfterAll

float mrpt::poses::CPoses3DSequence::computeTraveledDistanceAfterAll (  ) 

Returns the traveled distance after ALL movements.

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

See also:
computeTraveledDistanceAfter

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"

Exceptions:
std::exception On invalid index value.

size_t mrpt::poses::CPoses3DSequence::posesCount (  ) 

Returns the poses count in the sequence:.


Member Data Documentation

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 106 of file CPoses3DSequence.h.




Page generated by Doxygen 1.5.9 for MRPT 0.6.5 SVN:exported at Thu May 21 04:14:55 UTC 2009