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mrpt::nav::CLogFileRecord Class Reference

Detailed Description

A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationSystem class.

See also
CReactiveNavigationSystem, CHolonomicLogFileRecord

Definition at line 30 of file CLogFileRecord.h.

#include <mrpt/nav/reactive/CLogFileRecord.h>

Inheritance diagram for mrpt::nav::CLogFileRecord:
Inheritance graph

Classes

struct  TInfoPerPTG
 The structure used to store all relevant information about each transformation into TP-Space. More...
 

Public Member Functions

 CLogFileRecord ()
 Constructor, builds an empty record.
 
virtual ~CLogFileRecord ()
 Destructor, free all objects.
 
void operator= (CLogFileRecord &)
 Copy .
 

Public Attributes

mrpt::system::TTimeStamp timestamp
 The timestamp of when this log was processed by the reactive algorithm (It can be INVALID_TIMESTAMP for navigation logs in MRPT <0.9.5)
 
uint32_t nPTGs
 The number of PTGS:
 
std::vector< TInfoPerPTG, Eigen::aligned_allocator< TInfoPerPTG > > infoPerPTG
 The info for each applied PTG: must contain "nPTGs * nSecDistances" elements.
 
int32_t nSelectedPTG
 The selected PTG.
 
float executionTime
 The total computation time, excluding sensing.
 
float estimatedExecutionPeriod
 The estimated execution period.
 
mrpt::maps::CSimplePointsMap WS_Obstacles
 The WS-Obstacles.
 
mrpt::poses::CPose2D robotOdometryPose
 The robot pose (from raw odometry or a localization system).
 
mrpt::math::TPoint2D WS_target_relative
 The relative location of target point in WS.
 
float v
 
float w
 The final motion command sent to robot, in "m/sec" and "rad/sec".
 
float actual_v
 
float actual_w
 The actual robot velocities, as read from sensors, in "m/sec" and "rad/sec".
 
mrpt::math::CVectorFloat robotShape_x
 
mrpt::math::CVectorFloat robotShape_y
 The used robot shape in WS.
 
int32_t navigatorBehavior
 The navigator behavior.
 

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 Member Functions

void freeInfoPerPTGs ()
 Free all objects in infoPerPTGs structures (used internally).
 

RTTI stuff <br>

typedef CLogFileRecordPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CLogFileRecord
 
static mrpt::utils::TRuntimeClassId classCLogFileRecord
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const MRPT_OVERRIDE
 
virtual mrpt::utils::CObjectduplicate () const MRPT_OVERRIDE
 
static mrpt::utils::CObjectCreateObject ()
 
static CLogFileRecordPtr Create ()
 

Member Typedef Documentation

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 32 of file CLogFileRecord.h.

Constructor & Destructor Documentation

◆ CLogFileRecord()

mrpt::nav::CLogFileRecord::CLogFileRecord ( )

Constructor, builds an empty record.

◆ ~CLogFileRecord()

virtual mrpt::nav::CLogFileRecord::~CLogFileRecord ( )
virtual

Destructor, free all objects.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId * mrpt::nav::CLogFileRecord::_GetBaseClass ( )
staticprotected

◆ Create()

static CLogFileRecordPtr mrpt::nav::CLogFileRecord::Create ( )
static

◆ CreateObject()

static mrpt::utils::CObject * mrpt::nav::CLogFileRecord::CreateObject ( )
static

◆ duplicate()

virtual mrpt::utils::CObject * mrpt::nav::CLogFileRecord::duplicate ( ) const
virtual

◆ freeInfoPerPTGs()

void mrpt::nav::CLogFileRecord::freeInfoPerPTGs ( )
private

Free all objects in infoPerPTGs structures (used internally).

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId * mrpt::nav::CLogFileRecord::GetRuntimeClass ( ) const
virtual

◆ operator=()

void mrpt::nav::CLogFileRecord::operator= ( CLogFileRecord )

Copy .

◆ readFromStream()

void mrpt::nav::CLogFileRecord::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protected

◆ writeToStream()

void mrpt::nav::CLogFileRecord::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protected

Member Data Documentation

◆ _init_CLogFileRecord

mrpt::utils::CLASSINIT mrpt::nav::CLogFileRecord::_init_CLogFileRecord
staticprotected

Definition at line 32 of file CLogFileRecord.h.

◆ actual_v

float mrpt::nav::CLogFileRecord::actual_v

Definition at line 73 of file CLogFileRecord.h.

◆ actual_w

float mrpt::nav::CLogFileRecord::actual_w

The actual robot velocities, as read from sensors, in "m/sec" and "rad/sec".

Definition at line 73 of file CLogFileRecord.h.

◆ classCLogFileRecord

mrpt::utils::TRuntimeClassId mrpt::nav::CLogFileRecord::classCLogFileRecord
static

Definition at line 32 of file CLogFileRecord.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::nav::CLogFileRecord::classinfo
static

Definition at line 32 of file CLogFileRecord.h.

◆ estimatedExecutionPeriod

float mrpt::nav::CLogFileRecord::estimatedExecutionPeriod

The estimated execution period.

Definition at line 67 of file CLogFileRecord.h.

◆ executionTime

float mrpt::nav::CLogFileRecord::executionTime

The total computation time, excluding sensing.

Definition at line 66 of file CLogFileRecord.h.

◆ infoPerPTG

std::vector<TInfoPerPTG, Eigen::aligned_allocator<TInfoPerPTG> > mrpt::nav::CLogFileRecord::infoPerPTG

The info for each applied PTG: must contain "nPTGs * nSecDistances" elements.

Definition at line 63 of file CLogFileRecord.h.

◆ navigatorBehavior

int32_t mrpt::nav::CLogFileRecord::navigatorBehavior

The navigator behavior.

Definition at line 75 of file CLogFileRecord.h.

◆ nPTGs

uint32_t mrpt::nav::CLogFileRecord::nPTGs

The number of PTGS:

Definition at line 59 of file CLogFileRecord.h.

◆ nSelectedPTG

int32_t mrpt::nav::CLogFileRecord::nSelectedPTG

The selected PTG.

Definition at line 65 of file CLogFileRecord.h.

◆ robotOdometryPose

mrpt::poses::CPose2D mrpt::nav::CLogFileRecord::robotOdometryPose

The robot pose (from raw odometry or a localization system).

Definition at line 69 of file CLogFileRecord.h.

◆ robotShape_x

mrpt::math::CVectorFloat mrpt::nav::CLogFileRecord::robotShape_x

Definition at line 74 of file CLogFileRecord.h.

◆ robotShape_y

mrpt::math::CVectorFloat mrpt::nav::CLogFileRecord::robotShape_y

The used robot shape in WS.

Definition at line 74 of file CLogFileRecord.h.

◆ timestamp

mrpt::system::TTimeStamp mrpt::nav::CLogFileRecord::timestamp

The timestamp of when this log was processed by the reactive algorithm (It can be INVALID_TIMESTAMP for navigation logs in MRPT <0.9.5)

Definition at line 58 of file CLogFileRecord.h.

◆ v

float mrpt::nav::CLogFileRecord::v

Definition at line 72 of file CLogFileRecord.h.

◆ w

float mrpt::nav::CLogFileRecord::w

The final motion command sent to robot, in "m/sec" and "rad/sec".

Definition at line 72 of file CLogFileRecord.h.

◆ WS_Obstacles

mrpt::maps::CSimplePointsMap mrpt::nav::CLogFileRecord::WS_Obstacles

The WS-Obstacles.

Definition at line 68 of file CLogFileRecord.h.

◆ WS_target_relative

mrpt::math::TPoint2D mrpt::nav::CLogFileRecord::WS_target_relative

The relative location of target point in WS.

Definition at line 70 of file CLogFileRecord.h.




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