This class stores a sequence of relative, incremental 2D 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 46 of file CPoses2DSequence.h.
#include <mrpt/poses/CPoses2DSequence.h>
Public Member Functions | |||
CPoses2DSequence () | |||
Default constructor. | |||
size_t | posesCount () | ||
Returns the poses count in the sequence: | |||
void | getPose (unsigned int ind, CPose2D &outPose) | ||
Reads the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1"
| |||
void | changePose (unsigned int ind, CPose2D &inPose) | ||
Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1"
| |||
void | appendPose (CPose2D &newPose) | ||
Appends a new pose at the end of sequence. | |||
void | clear () | ||
Clears the sequence. | |||
CPose2D | 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. | |||
CPose2D | 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 | |||
mrpt::aligned_containers < CPose2D >::vector_t | 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) | |||
RTTI stuff | |||
typedef CPoses2DSequencePtr | SmartPtr | ||
static mrpt::utils::CLASSINIT | _init_CPoses2DSequence | ||
static mrpt::utils::TRuntimeClassId | classCPoses2DSequence | ||
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::CObject * | duplicate () const | ||
Returns a copy of the object, indepently of its class. | |||
static mrpt::utils::CObject * | CreateObject () | ||
static CPoses2DSequencePtr | Create () |
A typedef for the associated smart pointer
Definition at line 49 of file CPoses2DSequence.h.
mrpt::poses::CPoses2DSequence::CPoses2DSequence | ( | ) |
Default constructor.
static const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoses2DSequence::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::utils::CSerializable.
CPose2D mrpt::poses::CPoses2DSequence::absolutePoseAfterAll | ( | ) |
A shortcut for "absolutePoseOf( posesCount() )".
CPose2D mrpt::poses::CPoses2DSequence::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::CPoses2DSequence::appendPose | ( | CPose2D & | newPose | ) |
Appends a new pose at the end of sequence.
Remember that poses are relative, incremental to the last one.
void mrpt::poses::CPoses2DSequence::changePose | ( | unsigned int | ind, |
CPose2D & | 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::CPoses2DSequence::clear | ( | ) |
Clears the sequence.
float mrpt::poses::CPoses2DSequence::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::CPoses2DSequence::computeTraveledDistanceAfterAll | ( | ) |
Returns the traveled distance after ALL movements.
A shortcut for "computeTraveledDistanceAfter( posesCount() )".
static CPoses2DSequencePtr mrpt::poses::CPoses2DSequence::Create | ( | ) | [static] |
static mrpt::utils::CObject* mrpt::poses::CPoses2DSequence::CreateObject | ( | ) | [static] |
virtual mrpt::utils::CObject* mrpt::poses::CPoses2DSequence::duplicate | ( | ) | const [virtual] |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
void mrpt::poses::CPoses2DSequence::getPose | ( | unsigned int | ind, |
CPose2D & | 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 const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoses2DSequence::GetRuntimeClass | ( | ) | const [virtual] |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
size_t mrpt::poses::CPoses2DSequence::posesCount | ( | ) |
Returns the poses count in the sequence:
mrpt::utils::CLASSINIT mrpt::poses::CPoses2DSequence::_init_CPoses2DSequence [static, protected] |
Definition at line 49 of file CPoses2DSequence.h.
Definition at line 49 of file CPoses2DSequence.h.
const mrpt::utils::TRuntimeClassId* mrpt::poses::CPoses2DSequence::classinfo [static] |
Definition at line 49 of file CPoses2DSequence.h.
mrpt::aligned_containers<CPose2D>::vector_t mrpt::poses::CPoses2DSequence::poses [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 105 of file CPoses2DSequence.h.
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