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mrpt::slam::CActionRobotMovement3D Class Reference


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.

See also:
CAction

Definition at line 46 of file CActionRobotMovement3D.h.

#include <mrpt/slam/CActionRobotMovement3D.h>

Inheritance diagram for mrpt::slam::CActionRobotMovement3D:
Inheritance graph
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List of all members.

Public Types

enum  TEstimationMethod { emOdometry = 0, emVisualOdometry }
 

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

More...

Public Member Functions

 CActionRobotMovement3D ()
 Constructor.
virtual ~CActionRobotMovement3D ()
 Destructor.

Public Attributes

poses::CPose3DPDFGaussian poseChange
 The 3D pose change probabilistic estimation.
poses::CPose3DQuatPDFGaussian poseChangeQuat
TEstimationMethod estimationMethod
 This fields indicates the way this estimation was obtained.
vector_bool hasVelocities
 Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries.
vector_float 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).

RTTI stuff

typedef CActionRobotMovement3DPtr SmartPtr
static mrpt::utils::CLASSINIT _init_CActionRobotMovement3D
static mrpt::utils::TRuntimeClassId classCActionRobotMovement3D
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.
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class.
static mrpt::utils::CObjectCreateObject ()
static CActionRobotMovement3DPtr Create ()

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 49 of file CActionRobotMovement3D.h.


Member Enumeration Documentation

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

Enumerator:
emOdometry 
emVisualOdometry 

Definition at line 54 of file CActionRobotMovement3D.h.


Constructor & Destructor Documentation

mrpt::slam::CActionRobotMovement3D::CActionRobotMovement3D ( )

Constructor.

virtual mrpt::slam::CActionRobotMovement3D::~CActionRobotMovement3D ( ) [virtual]

Destructor.


Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CActionRobotMovement3D::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::slam::CAction.

static CActionRobotMovement3DPtr mrpt::slam::CActionRobotMovement3D::Create ( ) [static]
static mrpt::utils::CObject* mrpt::slam::CActionRobotMovement3D::CreateObject ( ) [static]
virtual mrpt::utils::CObject* mrpt::slam::CActionRobotMovement3D::duplicate ( ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CActionRobotMovement3D::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CAction.


Member Data Documentation

Definition at line 49 of file CActionRobotMovement3D.h.

Definition at line 49 of file CActionRobotMovement3D.h.

Definition at line 49 of file CActionRobotMovement3D.h.

This fields indicates the way this estimation was obtained.

Definition at line 76 of file CActionRobotMovement3D.h.

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

Definition at line 80 of file CActionRobotMovement3D.h.

The 3D pose change probabilistic estimation.

Definition at line 70 of file CActionRobotMovement3D.h.

Definition at line 71 of file CActionRobotMovement3D.h.

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 84 of file CActionRobotMovement3D.h.




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