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obs/CActionRobotMovement3D.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9#ifndef CActionRobotMovement3D_H
10#define CActionRobotMovement3D_H
11
12#include <mrpt/obs/CAction.h>
15
16namespace mrpt
17{
18namespace obs
19{
21
22 /** Represents a probabilistic 3D (6D) movement.
23 * Currently this can be determined from visual odometry for full 6D, or from wheel encoders for 2D movements only.
24 *
25 * \ingroup mrpt_obs_grp
26 * \sa CAction
27 */
29 {
30 // This must be added to any CSerializable derived class:
32
33 public:
34 /** A list of posible ways for estimating the content of a CActionRobotMovement3D object.
35 */
37 {
38 emOdometry = 0,
39 emVisualOdometry
40 };
41
42 /** Constructor
43 */
45
46 /** Destructor
47 */
49
50 /** The 3D pose change probabilistic estimation.
51 */
54
55
56 /** This fields indicates the way this estimation was obtained.
57 */
59
60 /** Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries.
61 */
63
64 /** The velocity of the robot in each of 6D: v_x,v_y,v_z,v_yaw,v_pitch,v_roll (linear in meters/sec and angular in rad/sec).
65 */
67
68 }; // End of class def.
70
71
72 } // End of namespace
73} // End of namespace
74
75#endif
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
Column vector, like Eigen::MatrixX*, but automatically initialized to zeros since construction.
Definition: types_math.h:65
Declares a class for storing a robot action.
Definition: obs/CAction.h:34
Represents a probabilistic 3D (6D) movement.
virtual ~CActionRobotMovement3D()
Destructor.
TEstimationMethod estimationMethod
This fields indicates the way this estimation was obtained.
mrpt::math::CVectorFloat velocities
The velocity of the robot in each of 6D: v_x,v_y,v_z,v_yaw,v_pitch,v_roll (linear in meters/sec and a...
vector_bool hasVelocities
Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6...
TEstimationMethod
A list of posible ways for estimating the content of a CActionRobotMovement3D object.
poses::CPose3DPDFGaussian poseChange
The 3D pose change probabilistic estimation.
poses::CPose3DQuatPDFGaussian poseChangeQuat
Declares a class that represents a Probability Density function (PDF) of a 3D pose .
Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion...
std::vector< bool > vector_bool
A type for passing a vector of bools.
Definition: types_simple.h:29
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.



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