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CPoses3DSequence.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 CPoses3DSequence_H
00029 #define CPoses3DSequence_H
00030 
00031 #include <mrpt/poses/CPose3D.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( CPoses3DSequence, mrpt::utils::CSerializable )
00041 
00042         /** 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.
00043          *
00044          * \sa CPose3D, CMultiMetricMap
00045          */
00046         class BASE_IMPEXP CPoses3DSequence : public mrpt::utils::CSerializable
00047         {
00048                 // This must be added to any CSerializable derived class:
00049                 DEFINE_SERIALIZABLE( CPoses3DSequence )
00050         public:
00051                 /** Default constructor
00052                  */
00053                 CPoses3DSequence();
00054 
00055 
00056                 /** Returns the poses count in the sequence:
00057                  */
00058                 size_t posesCount();
00059 
00060                 /** Reads the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1"
00061                  * \exception std::exception On invalid index value
00062                  */
00063                 void  getPose(unsigned int ind, CPose3D &outPose);
00064 
00065                 /** Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1"
00066                  * \exception std::exception On invalid index value
00067                  */
00068                 void  changePose(unsigned int ind, CPose3D &inPose);
00069 
00070                 /** Appends a new pose at the end of sequence. Remember that poses are relative, incremental to the last one.
00071                  */
00072                 void  appendPose(CPose3D &newPose);
00073 
00074                 /** Clears the sequence.
00075                  */
00076                 void  clear();
00077 
00078                 /** 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
00079                  *  of robot after moving ALL poses is returned, all of them relative to the starting pose.
00080                  * \exception std::exception On invalid index value
00081                  * \sa absolutePoseAfterAll
00082                  */
00083                 CPose3D  absolutePoseOf(unsigned int n);
00084 
00085                 /** A shortcut for "absolutePoseOf( posesCount() )".
00086                  * \sa absolutePoseOf, posesCount
00087                  */
00088                 CPose3D  absolutePoseAfterAll();
00089 
00090                 /** 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
00091                  *  distance after ALL movements.
00092                  * \exception std::exception On invalid index value
00093                  * \sa computeTraveledDistanceAfterAll
00094                  */
00095                 float  computeTraveledDistanceAfter(unsigned int n);
00096 
00097                 /** Returns the traveled distance after ALL movements.
00098                  *   A shortcut for "computeTraveledDistanceAfter( posesCount() )".
00099                  * \sa computeTraveledDistanceAfter
00100                  */
00101                 float  computeTraveledDistanceAfterAll();
00102 
00103         private:
00104                 /** 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)
00105                  */
00106                 std::vector<mrpt::math::TPose3D>        m_poses;
00107 
00108         }; // End of class def.
00109 
00110 
00111         } // End of namespace
00112 } // End of namespace
00113 
00114 #endif



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