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CPoses2DSequence.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 CPoses2DSequence_H
00029 #define CPoses2DSequence_H
00030 
00031 #include <mrpt/poses/CPose2D.h>
00032 #include <mrpt/utils/CSerializable.h>
00033 
00034 namespace mrpt
00035 {
00036 namespace poses
00037 {
00038 
00039         // This must be added to any CSerializable derived class:
00040         DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CPoses2DSequence, mrpt::utils::CSerializable )
00041 
00042         /** 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.
00043          *
00044          * \sa CPose2D, CMultiMetricMap
00045          */
00046         class BASE_IMPEXP CPoses2DSequence : public mrpt::utils::CSerializable
00047         {
00048                 // This must be added to any CSerializable derived class:
00049                 DEFINE_SERIALIZABLE( CPoses2DSequence )
00050         public:
00051                 /** Default constructor
00052                  */
00053                 CPoses2DSequence();
00054 
00055                 /** Returns the poses count in the sequence:
00056                  */
00057                 size_t   posesCount();
00058 
00059                 /** Reads the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1"
00060                  * \exception std::exception On invalid index value
00061                  */
00062                 void  getPose(unsigned int ind, CPose2D &outPose);
00063 
00064                 /** Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1"
00065                  * \exception std::exception On invalid index value
00066                  */
00067                 void  changePose(unsigned int ind, CPose2D &inPose);
00068 
00069                 /** Appends a new pose at the end of sequence. Remember that poses are relative, incremental to the last one.
00070                  */
00071                 void  appendPose(CPose2D &newPose);
00072 
00073                 /** Clears the sequence.
00074                  */
00075                 void  clear();
00076 
00077                 /** 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
00078                  *  of robot after moving ALL poses is returned, all of them relative to the starting pose.
00079                  * \exception std::exception On invalid index value
00080                  * \sa absolutePoseAfterAll
00081                  */
00082                 CPose2D  absolutePoseOf(unsigned int n);
00083 
00084                 /** A shortcut for "absolutePoseOf( posesCount() )".
00085                  * \sa absolutePoseOf, posesCount
00086                  */
00087                 CPose2D  absolutePoseAfterAll();
00088 
00089                 /** 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
00090                  *  distance after ALL movements.
00091                  * \exception std::exception On invalid index value
00092                  * \sa computeTraveledDistanceAfterAll
00093                  */
00094                 float  computeTraveledDistanceAfter(unsigned int n);
00095 
00096                 /** Returns the traveled distance after ALL movements.
00097                  *   A shortcut for "computeTraveledDistanceAfter( posesCount() )".
00098                  * \sa computeTraveledDistanceAfter
00099                  */
00100                 float  computeTraveledDistanceAfterAll();
00101 
00102         private:
00103                 /** 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)
00104                  */
00105                 mrpt::aligned_containers<CPose2D>::vector_t     poses;
00106 
00107         }; // End of class def.
00108 
00109 
00110         } // End of namespace
00111 } // End of namespace
00112 
00113 #endif



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