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.
Definition at line 28 of file CPoses3DSequence.h.
#include <mrpt/poses/CPoses3DSequence.h>
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". | |
void | changePose (unsigned int ind, CPose3D &inPose) |
Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1". | |
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. | |
Protected Member Functions | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE |
void | readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE |
Private Attributes | |
std::vector< mrpt::math::TPose3D > | m_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 <br> | |
typedef CPoses3DSequencePtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CPoses3DSequence |
static mrpt::utils::TRuntimeClassId | classCPoses3DSequence |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const MRPT_OVERRIDE |
virtual mrpt::utils::CObject * | duplicate () const MRPT_OVERRIDE |
static mrpt::utils::CObject * | CreateObject () |
static CPoses3DSequencePtr | Create () |
A typedef for the associated smart pointer
Definition at line 31 of file CPoses3DSequence.h.
mrpt::poses::CPoses3DSequence::CPoses3DSequence | ( | ) |
Default constructor.
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CPose3D mrpt::poses::CPoses3DSequence::absolutePoseAfterAll | ( | ) |
A shortcut for "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.
std::exception | On invalid index value |
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".
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.
std::exception | On invalid index value |
float mrpt::poses::CPoses3DSequence::computeTraveledDistanceAfterAll | ( | ) |
Returns the traveled distance after ALL movements.
A shortcut for "computeTraveledDistanceAfter( posesCount() )".
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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".
std::exception | On invalid index value |
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size_t mrpt::poses::CPoses3DSequence::posesCount | ( | ) |
Returns the poses count in the sequence:
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Definition at line 31 of file CPoses3DSequence.h.
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Definition at line 31 of file CPoses3DSequence.h.
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Definition at line 31 of file CPoses3DSequence.h.
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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 88 of file CPoses3DSequence.h.
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