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CActionRobotMovement3D.h

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00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
00005    |                                                                           |
00006    |   Copyright (C) 2005-2011  University of Malaga                           |
00007    |                                                                           |
00008    |    This software was written by the Machine Perception and Intelligent    |
00009    |      Robotics Lab, University of Malaga (Spain).                          |
00010    |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
00011    |                                                                           |
00012    |  This file is part of the MRPT project.                                   |
00013    |                                                                           |
00014    |     MRPT is free software: you can redistribute it and/or modify          |
00015    |     it under the terms of the GNU General Public License as published by  |
00016    |     the Free Software Foundation, either version 3 of the License, or     |
00017    |     (at your option) any later version.                                   |
00018    |                                                                           |
00019    |   MRPT is distributed in the hope that it will be useful,                 |
00020    |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
00021    |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
00022    |     GNU General Public License for more details.                          |
00023    |                                                                           |
00024    |     You should have received a copy of the GNU General Public License     |
00025    |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
00026    |                                                                           |
00027    +---------------------------------------------------------------------------+ */
00028 #ifndef CActionRobotMovement3D_H
00029 #define CActionRobotMovement3D_H
00030 
00031 #include <mrpt/slam/CAction.h>
00032 #include <mrpt/poses/CPose3DPDFGaussian.h>
00033 #include <mrpt/poses/CPose3DQuatPDFGaussian.h>
00034 
00035 namespace mrpt
00036 {
00037 namespace slam
00038 {
00039         DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CActionRobotMovement3D, CAction, OBS_IMPEXP )
00040 
00041                 /** Represents a probabilistic 3D (6D) movement.
00042          *   Currently this can be determined from visual odometry for full 6D, or from wheel encoders for 2D movements only.
00043      *
00044          * \sa CAction
00045          */
00046         class OBS_IMPEXP CActionRobotMovement3D : public CAction
00047         {
00048                 // This must be added to any CSerializable derived class:
00049                 DEFINE_SERIALIZABLE( CActionRobotMovement3D )
00050 
00051         public:
00052                 /** A list of posible ways for estimating the content of a CActionRobotMovement3D object.
00053                         */
00054                 enum TEstimationMethod
00055                 {
00056                         emOdometry = 0,
00057                         emVisualOdometry
00058                 };
00059 
00060                 /** Constructor
00061                   */
00062                 CActionRobotMovement3D();
00063 
00064                 /** Destructor
00065                   */
00066                 virtual ~CActionRobotMovement3D();
00067 
00068                 /** The 3D pose change probabilistic estimation.
00069                   */
00070                 poses::CPose3DPDFGaussian               poseChange;
00071                 poses::CPose3DQuatPDFGaussian   poseChangeQuat;
00072 
00073 
00074                 /** This fields indicates the way this estimation was obtained.
00075                   */
00076                 TEstimationMethod               estimationMethod;
00077 
00078                 /** Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries.
00079                   */
00080                 vector_bool                             hasVelocities;
00081 
00082                 /** 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).
00083                   */
00084                 vector_float                    velocities;
00085 
00086         }; // End of class def.
00087 
00088 
00089         } // End of namespace
00090 } // End of namespace
00091 
00092 #endif



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