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CObservationOdometry.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 
00029 #ifndef CObservationOdometry_H
00030 #define CObservationOdometry_H
00031 
00032 #include <mrpt/utils/CSerializable.h>
00033 #include <mrpt/slam/CObservation.h>
00034 #include <mrpt/poses/CPose2D.h>
00035 #include <mrpt/poses/CPose3D.h>
00036 
00037 namespace mrpt
00038 {
00039         namespace slam
00040         {
00041                 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationOdometry, CObservation,OBS_IMPEXP  )
00042 
00043                 /** An observation of the current (cumulative) odometry for a wheeled robot.
00044                  *   This kind of observation will only occur in a "observation-only" rawlog file, otherwise
00045                  *    odometry are modeled with actions. Refer to the <a href="http://www.mrpt.org/Rawlog_Format">page on rawlogs</a>.
00046                  *
00047                  * \sa CObservation, CActionRobotMovement2D
00048                  */
00049                 class OBS_IMPEXP CObservationOdometry : public CObservation
00050                 {
00051                         // This must be added to any CSerializable derived class:
00052                         DEFINE_SERIALIZABLE( CObservationOdometry )
00053 
00054                  public:
00055                         /** Constructor
00056                          */
00057                         CObservationOdometry( );
00058 
00059                         poses::CPose2D          odometry;               //!< The absolute odometry measurement (IT IS NOT INCREMENTAL)
00060 
00061                         bool  hasEncodersInfo; //!< "true" means that "encoderLeftTicks" and "encoderRightTicks" contain valid values.
00062 
00063                         /** For odometry only: the ticks count for each wheel in ABSOLUTE VALUE (IT IS NOT INCREMENTAL) (positive means FORWARD, for both wheels);
00064                           * \sa hasEncodersInfo
00065                           */
00066                         int32_t  encoderLeftTicks,encoderRightTicks;
00067 
00068                         bool    hasVelocities;          //!< "true" means that "velocityLin" and "velocityAng" contain valid values.
00069 
00070                         /** The velocity of the robot, linear in meters/sec and angular in rad/sec.
00071                           */
00072                         float   velocityLin, velocityAng;
00073 
00074 
00075                         /** A general method to retrieve the sensor pose on the robot.
00076                           *  It has no effects in this class
00077                           * \sa setSensorPose
00078                           */
00079                         void getSensorPose( CPose3D &out_sensorPose ) const { out_sensorPose=CPose3D(0,0,0); }
00080 
00081                         /** A general method to change the sensor pose on the robot.
00082                           *  It has no effects in this class
00083                           * \sa getSensorPose
00084                           */
00085                         void setSensorPose( const CPose3D & ) {  }
00086 
00087                 }; // End of class def.
00088 
00089         } // End of namespace
00090 } // End of namespace
00091 
00092 #endif



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