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<div class="title">CActionCollection.h</div> </div>
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<a href="_c_action_collection_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CActionCollection_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CActionCollection_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_action_8h.html">mrpt/slam/CAction.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_action_robot_movement2_d_8h.html">mrpt/slam/CActionRobotMovement2D.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_serializable_8h.html">mrpt/utils/CSerializable.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_p_d_f_gaussian_8h.html">mrpt/poses/CPose3DPDFGaussian.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="keyword">namespace </span>mrpt
<a name="l00037"></a>00037 {
<a name="l00038"></a>00038 <span class="keyword">namespace </span>slam
<a name="l00039"></a>00039 {
<a name="l00040"></a>00040 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00041"></a><a class="code" href="structmrpt_1_1slam_1_1_c_action_collection_ptr.html#a3e22067e9a52652aaa94a5a53f766c89">00041</a> <a class="code" href="_c_serializable_8h.html#a9ef523d787f6cb837a0585b790882588" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE</a>( <a class="code" href="classmrpt_1_1slam_1_1_c_action_collection.html" title="Declares a class for storing a collection of robot actions.">CActionCollection</a>, <a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">mrpt::utils::CSerializable</a>, <a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a> )
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="comment">/** Declares a class for storing a collection of robot actions. It is used in mrpt::slam::CRawlog,</span>
<a name="l00044"></a>00044 <span class="comment"> * for logs storage and particle filter based simulations.</span>
<a name="l00045"></a>00045 <span class="comment"> *</span>
<a name="l00046"></a>00046 <span class="comment"> * \sa CAction, CRawlog</span>
<a name="l00047"></a>00047 <span class="comment"> * \ingroup mrpt_obs_grp</span>
<a name="l00048"></a>00048 <span class="comment"> */</span>
<a name="l00049"></a>00049 class <a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a> <a class="code" href="classmrpt_1_1slam_1_1_c_action_collection.html" title="Declares a class for storing a collection of robot actions.">CActionCollection</a> : public mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">CSerializable</a>
<a name="l00050"></a>00050 {
<a name="l00051"></a>00051 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00052"></a><a class="code" href="classmrpt_1_1slam_1_1_c_action_collection.html#ae6344afb43bad9423cabc7abb9b1f4f5">00052</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1slam_1_1_c_action_collection.html" title="Declares a class for storing a collection of robot actions.">CActionCollection</a> )
<a name="l00053"></a>00053
<a name="l00054"></a>00054 protected:<span class="comment"></span>
<a name="l00055"></a>00055 <span class="comment"> /** The actions:</span>
<a name="l00056"></a>00056 <span class="comment"> */</span>
<a name="l00057"></a><a class="code" href="classmrpt_1_1slam_1_1_c_action_collection.html#aca66983162d41b291eafb7854c2b7c09">00057</a> std::<a class="code" href="classstd_1_1deque.html" title="STL class.">deque</a><<a class="code" href="structmrpt_1_1slam_1_1_c_action_ptr.html">CActionPtr</a>> m_actions;
<a name="l00058"></a>00058
<a name="l00059"></a>00059 public:<span class="comment"></span>
<a name="l00060"></a>00060 <span class="comment"> /** Constructor</span>
<a name="l00061"></a>00061 <span class="comment"> */</span>
<a name="l00062"></a>00062 <a class="code" href="classmrpt_1_1slam_1_1_c_action_collection.html" title="Declares a class for storing a collection of robot actions.">CActionCollection</a>();
<a name="l00063"></a>00063 <span class="comment"></span>
<a name="l00064"></a>00064 <span class="comment"> /** Constructor from a single action.</span>
<a name="l00065"></a>00065 <span class="comment"> */</span>
<a name="l00066"></a>00066 CActionCollection( <a class="code" href="classmrpt_1_1slam_1_1_c_action.html" title="Declares a class for storing a robot action.">CAction</a> &a );
<a name="l00067"></a>00067 <span class="comment"></span>
<a name="l00068"></a>00068 <span class="comment"> /** Copy Constructor</span>
<a name="l00069"></a>00069 <span class="comment"> */</span>
<a name="l00070"></a>00070 CActionCollection(const CActionCollection &o );
<a name="l00071"></a>00071 <span class="comment"></span>
<a name="l00072"></a>00072 <span class="comment"> /** Copy operator</span>
<a name="l00073"></a>00073 <span class="comment"> */</span>
<a name="l00074"></a>00074 CActionCollection& operator = (const CActionCollection &o );
<a name="l00075"></a>00075 <span class="comment"></span>
<a name="l00076"></a>00076 <span class="comment"> /** Destructor</span>
<a name="l00077"></a>00077 <span class="comment"> */</span>
<a name="l00078"></a>00078 virtual ~CActionCollection();
<a name="l00079"></a>00079 <span class="comment"></span>
<a name="l00080"></a>00080 <span class="comment"> /** You can use CActionCollection::begin to get a iterator to the first element.</span>
<a name="l00081"></a>00081 <span class="comment"> */</span>
<a name="l00082"></a><a class="code" href="classmrpt_1_1slam_1_1_c_action_collection.html#a9bbc76db368d870a2216f726e0da2968">00082</a> typedef std::<a class="code" href="classstd_1_1deque.html" title="STL class.">deque</a><<a class="code" href="structmrpt_1_1slam_1_1_c_action_ptr.html">CActionPtr</a>>::<a class="code" href="classstd_1_1deque_1_1iterator.html" title="STL iterator class.">iterator</a> <a class="code" href="classstd_1_1deque_1_1iterator.html" title="STL iterator class.">iterator</a>;
<a name="l00083"></a>00083 <span class="comment"></span>
<a name="l00084"></a>00084 <span class="comment"> /** You can use CActionCollection::begin to get a iterator to the first element.</span>
<a name="l00085"></a>00085 <span class="comment"> */</span>
<a name="l00086"></a><a class="code" href="classmrpt_1_1slam_1_1_c_action_collection.html#a56484f0c8b35d5c7ee1c40076e935930">00086</a> typedef std::<a class="code" href="classstd_1_1deque.html" title="STL class.">deque</a><<a class="code" href="structmrpt_1_1slam_1_1_c_action_ptr.html">CActionPtr</a>>::<a class="code" href="classstd_1_1deque_1_1const__iterator.html" title="STL iterator class.">const_iterator</a> <a class="code" href="classstd_1_1deque_1_1const__iterator.html" title="STL iterator class.">const_iterator</a>;
<a name="l00087"></a>00087 <span class="comment"></span>
<a name="l00088"></a>00088 <span class="comment"> /** Returns a iterator to the first action: this is an example of usage:</span>
<a name="l00089"></a>00089 <span class="comment"> * \code</span>
<a name="l00090"></a>00090 <span class="comment"> * CActionCollection acts;</span>
<a name="l00091"></a>00091 <span class="comment"> * ...</span>
<a name="l00092"></a>00092 <span class="comment"> * for (CActionCollection::iterator it=acts.begin();it!=acts.end();++it)</span>
<a name="l00093"></a>00093 <span class="comment"> * {</span>
<a name="l00094"></a>00094 <span class="comment"> * (*it)->... // (*it) is a "CActionPtr"</span>
<a name="l00095"></a>00095 <span class="comment"> * }</span>
<a name="l00096"></a>00096 <span class="comment"> *</span>
<a name="l00097"></a>00097 <span class="comment"> * \endcode</span>
<a name="l00098"></a>00098 <span class="comment"> */</span>
<a name="l00099"></a><a class="code" href="classmrpt_1_1slam_1_1_c_action_collection.html#af664523f32c00a1c6acec70fad588852">00099</a> const_iterator <a class="code" href="eigen__plugins_8h.html#ab295fd8164bf1b1acecbcb29520d62b7">begin</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_actions.begin(); }
<a name="l00100"></a>00100 <span class="comment"></span>
<a name="l00101"></a>00101 <span class="comment"> /** Returns a iterator to the first action: this is an example of usage:</span>
<a name="l00102"></a>00102 <span class="comment"> * \code</span>
<a name="l00103"></a>00103 <span class="comment"> * CActionCollection acts;</span>
<a name="l00104"></a>00104 <span class="comment"> * ...</span>
<a name="l00105"></a>00105 <span class="comment"> * for (CActionCollection::iterator it=acts.begin();it!=acts.end();++it)</span>
<a name="l00106"></a>00106 <span class="comment"> * {</span>
<a name="l00107"></a>00107 <span class="comment"> * (*it)->... // (*it) is a "CActionPtr"</span>
<a name="l00108"></a>00108 <span class="comment"> * }</span>
<a name="l00109"></a>00109 <span class="comment"> *</span>
<a name="l00110"></a>00110 <span class="comment"> * \endcode</span>
<a name="l00111"></a>00111 <span class="comment"> */</span>
<a name="l00112"></a><a class="code" href="classmrpt_1_1slam_1_1_c_action_collection.html#aa1bbea1455c4d57d08305833d7731554">00112</a> <a class="code" href="classstd_1_1deque_1_1iterator.html" title="STL iterator class.">iterator</a> <a class="code" href="classmrpt_1_1slam_1_1_c_action_collection.html#aa1bbea1455c4d57d08305833d7731554" title="Returns a iterator to the first action: this is an example of usage:">begin</a>() { <span class="keywordflow">return</span> m_actions.begin(); }
<a name="l00113"></a>00113 <span class="comment"></span>
<a name="l00114"></a>00114 <span class="comment"> /** Returns a iterator pointing to the end of the list: this is an example of usage:</span>
<a name="l00115"></a>00115 <span class="comment"> * \code</span>
<a name="l00116"></a>00116 <span class="comment"> * CActionCollection acts;</span>
<a name="l00117"></a>00117 <span class="comment"> * ...</span>
<a name="l00118"></a>00118 <span class="comment"> * for (CActionCollection::iterator it=acts.begin();it!=acts.end();++it)</span>
<a name="l00119"></a>00119 <span class="comment"> * {</span>
<a name="l00120"></a>00120 <span class="comment"> * (*it)->... // (*it) is a "CActionPtr"</span>
<a name="l00121"></a>00121 <span class="comment"> * }</span>
<a name="l00122"></a>00122 <span class="comment"> *</span>
<a name="l00123"></a>00123 <span class="comment"> * \endcode</span>
<a name="l00124"></a>00124 <span class="comment"> */</span>
<a name="l00125"></a><a class="code" href="classmrpt_1_1slam_1_1_c_action_collection.html#ad9f760612657565f117170cf3d58e560">00125</a> <a class="code" href="classstd_1_1deque_1_1const__iterator.html" title="STL iterator class.">const_iterator</a> <a class="code" href="classmrpt_1_1slam_1_1_c_action_collection.html#ad9f760612657565f117170cf3d58e560" title="Returns a iterator pointing to the end of the list: this is an example of usage:">end</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_actions.end(); }
<a name="l00126"></a>00126 <span class="comment"></span>
<a name="l00127"></a>00127 <span class="comment"> /** Returns a iterator pointing to the end of the list: this is an example of usage:</span>
<a name="l00128"></a>00128 <span class="comment"> * \code</span>
<a name="l00129"></a>00129 <span class="comment"> * CActionCollection acts;</span>
<a name="l00130"></a>00130 <span class="comment"> * ...</span>
<a name="l00131"></a>00131 <span class="comment"> * for (CActionCollection::iterator it=acts.begin();it!=acts.end();++it)</span>
<a name="l00132"></a>00132 <span class="comment"> * {</span>
<a name="l00133"></a>00133 <span class="comment"> * (*it)->... // (*it) is a "CActionPtr"</span>
<a name="l00134"></a>00134 <span class="comment"> * }</span>
<a name="l00135"></a>00135 <span class="comment"> *</span>
<a name="l00136"></a>00136 <span class="comment"> * \endcode</span>
<a name="l00137"></a>00137 <span class="comment"> */</span>
<a name="l00138"></a><a class="code" href="classmrpt_1_1slam_1_1_c_action_collection.html#a79adc7924767e6d78f2fd0b13765eff8">00138</a> <a class="code" href="classstd_1_1deque_1_1iterator.html" title="STL iterator class.">iterator</a> <a class="code" href="classmrpt_1_1slam_1_1_c_action_collection.html#a79adc7924767e6d78f2fd0b13765eff8" title="Returns a iterator pointing to the end of the list: this is an example of usage:">end</a>() { <span class="keywordflow">return</span> m_actions.end(); }
<a name="l00139"></a>00139
<a name="l00140"></a>00140 <span class="comment"></span>
<a name="l00141"></a>00141 <span class="comment"> /** Removes the given action in the list, and return an iterator to the next element (or this->end() if it was the last one).</span>
<a name="l00142"></a>00142 <span class="comment"> */</span>
<a name="l00143"></a>00143 <a class="code" href="eigen__plugins_8h.html#a39c5d6430ea9395ae7ae729dd0c3f18c">iterator</a> erase( <span class="keyword">const</span> <a class="code" href="eigen__plugins_8h.html#a39c5d6430ea9395ae7ae729dd0c3f18c">iterator</a> &it);
<a name="l00144"></a>00144 <span class="comment"></span>
<a name="l00145"></a>00145 <span class="comment"> /** Erase all actions from the list.</span>
<a name="l00146"></a>00146 <span class="comment"> */</span>
<a name="l00147"></a>00147 <span class="keywordtype">void</span> clear();
<a name="l00148"></a>00148 <span class="comment"></span>
<a name="l00149"></a>00149 <span class="comment"> /** Access the i'th action.DO NOT MODIFY the returned object, make a copy of ir with "CSerializable::duplicate" if desired.</span>
<a name="l00150"></a>00150 <span class="comment"> * First element is 0.</span>
<a name="l00151"></a>00151 <span class="comment"> * \exception std::exception On index out of bounds.</span>
<a name="l00152"></a>00152 <span class="comment"> */</span>
<a name="l00153"></a>00153 <a class="code" href="structmrpt_1_1slam_1_1_c_action_ptr.html">CActionPtr</a> <span class="keyword">get</span>(<span class="keywordtype">size_t</span> index);
<a name="l00154"></a>00154 <span class="comment"></span>
<a name="l00155"></a>00155 <span class="comment"> /** Access to the i'th action of a given class, or a NULL smart pointer if there is no action of that class in the list.</span>
<a name="l00156"></a>00156 <span class="comment"> * Example:</span>
<a name="l00157"></a>00157 <span class="comment"> * \code</span>
<a name="l00158"></a>00158 <span class="comment"> CActionRobotMovement2DPtr obs = acts->getActionByClass<CActionRobotMovement2D>();</span>
<a name="l00159"></a>00159 <span class="comment"> * \endcode</span>
<a name="l00160"></a>00160 <span class="comment"> * By default (ith=0), the first one is returned.</span>
<a name="l00161"></a>00161 <span class="comment"> */</span>
<a name="l00162"></a>00162 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00163"></a><a class="code" href="classmrpt_1_1slam_1_1_c_action_collection.html#a831ca7e47b84a4537ac8b6b2ff096040">00163</a> <span class="keyword">typename</span> T<a class="code" href="structmrpt_1_1slam_1_1_c_action_collection_ptr.html">::SmartPtr</a> getActionByClass( <span class="keyword">const</span> <span class="keywordtype">size_t</span> &ith = 0 )<span class="keyword"> const</span>
<a name="l00164"></a>00164 <span class="keyword"> </span>{
<a name="l00165"></a>00165 <a class="code" href="mrpt__macros_8h.html#a45b840af519f33816311acdbb28d7c10">MRPT_START</a>
<a name="l00166"></a>00166 <span class="keywordtype">size_t</span> foundCount = 0;
<a name="l00167"></a>00167 <span class="keyword">const</span> mrpt<a class="code" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html" title="A structure that holds runtime class type information.">::utils::TRuntimeClassId</a>* class_ID = T::classinfo;
<a name="l00168"></a>00168 <span class="keywordflow">for</span> (<a class="code" href="classstd_1_1deque_1_1const__iterator.html" title="STL iterator class.">const_iterator</a> it = <a class="code" href="eigen__plugins_8h.html#ab295fd8164bf1b1acecbcb29520d62b7">begin</a>();it!=<a class="code" href="eigen__plugins_8h.html#ade5b39864c905cbb824d0ff6eb0d888c">end</a>();++it)
<a name="l00169"></a>00169 <span class="keywordflow">if</span> ( (*it)->GetRuntimeClass()->derivedFrom( class_ID ) )
<a name="l00170"></a>00170 <span class="keywordflow">if</span> (foundCount++ == ith)
<a name="l00171"></a>00171 <span class="keywordflow">return</span> <span class="keyword">typename</span> T::SmartPtr(*it);
<a name="l00172"></a>00172 <span class="keywordflow">return</span> <span class="keyword">typename</span> T::SmartPtr(); <span class="comment">// Not found: return empty smart pointer</span>
<a name="l00173"></a>00173 <a class="code" href="mrpt__macros_8h.html#a88a917260793b56abd83ad2a0d849eb1">MRPT_END</a>
<a name="l00174"></a>00174 }
<a name="l00175"></a>00175
<a name="l00176"></a>00176 <span class="comment"></span>
<a name="l00177"></a>00177 <span class="comment"> /** Add a new object to the list.</span>
<a name="l00178"></a>00178 <span class="comment"> */</span>
<a name="l00179"></a>00179 <span class="keywordtype">void</span> insert(<a class="code" href="classmrpt_1_1slam_1_1_c_action.html" title="Declares a class for storing a robot action.">CAction</a> &action);
<a name="l00180"></a>00180 <span class="comment"></span>
<a name="l00181"></a>00181 <span class="comment"> /** Returns the actions count in the collection.</span>
<a name="l00182"></a>00182 <span class="comment"> */</span>
<a name="l00183"></a>00183 <span class="keywordtype">size_t</span> <a class="code" href="namespacemrpt_1_1math.html#a632ae0aecf78103f87f18f9ac33f7170">size</a>();
<a name="l00184"></a>00184 <span class="comment"></span>
<a name="l00185"></a>00185 <span class="comment"> /** Returns the best pose increment estimator in the collection, based on the determinant of its pose change covariance matrix.</span>
<a name="l00186"></a>00186 <span class="comment"> * \return The estimation, or NULL if none is available.</span>
<a name="l00187"></a>00187 <span class="comment"> */</span>
<a name="l00188"></a>00188 <a class="code" href="structmrpt_1_1slam_1_1_c_action_robot_movement2_d_ptr.html">CActionRobotMovement2DPtr</a> getBestMovementEstimation() <span class="keyword">const</span>;
<a name="l00189"></a>00189 <span class="comment"></span>
<a name="l00190"></a>00190 <span class="comment"> /** Returns the pose increment estimator in the collection having the specified type.</span>
<a name="l00191"></a>00191 <span class="comment"> * \return The estimation, or NULL if none is available.</span>
<a name="l00192"></a>00192 <span class="comment"> */</span>
<a name="l00193"></a>00193 <a class="code" href="structmrpt_1_1slam_1_1_c_action_robot_movement2_d_ptr.html">CActionRobotMovement2DPtr</a> getMovementEstimationByType( <a class="code" href="classmrpt_1_1slam_1_1_c_action_robot_movement2_d.html#a2ea0c517210c0b4dd54269463af5debd" title="A list of posible ways for estimating the content of a CActionRobotMovement2D object.">CActionRobotMovement2D::TEstimationMethod</a> method);
<a name="l00194"></a>00194 <span class="comment"></span>
<a name="l00195"></a>00195 <span class="comment"> /** Look for the first 2D or 3D "odometry" found in this collection of actions, and return the "mean" increment of the robot according to it.</span>
<a name="l00196"></a>00196 <span class="comment"> * \return true on success,false on no odometry found.</span>
<a name="l00197"></a>00197 <span class="comment"> */</span>
<a name="l00198"></a>00198 <span class="keywordtype">bool</span> getFirstMovementEstimationMean( <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &out_pose_increment ) <span class="keyword">const</span>;
<a name="l00199"></a>00199 <span class="comment"></span>
<a name="l00200"></a>00200 <span class="comment"> /** Look for the first 2D or 3D "odometry" found in this collection of actions, and return the "mean" increment of the robot and its covariance according to it.</span>
<a name="l00201"></a>00201 <span class="comment"> * \return true on success,false on no odometry found.</span>
<a name="l00202"></a>00202 <span class="comment"> */</span>
<a name="l00203"></a>00203 <span class="keywordtype">bool</span> getFirstMovementEstimation( <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose ...">CPose3DPDFGaussian</a> &out_pose_increment ) <span class="keyword">const</span>;
<a name="l00204"></a>00204 <span class="comment"></span>
<a name="l00205"></a>00205 <span class="comment"> /** Remove an action from the list by its index.</span>
<a name="l00206"></a>00206 <span class="comment"> * \exception std::exception On index out of bounds.</span>
<a name="l00207"></a>00207 <span class="comment"> */</span>
<a name="l00208"></a>00208 <span class="keywordtype">void</span> eraseByIndex(<span class="keyword">const</span> <span class="keywordtype">size_t</span> & index);
<a name="l00209"></a>00209
<a name="l00210"></a>00210
<a name="l00211"></a>00211 }; <span class="comment">// End of class def.</span>
<a name="l00212"></a>00212
<a name="l00213"></a>00213
<a name="l00214"></a>00214 } <span class="comment">// End of namespace</span>
<a name="l00215"></a>00215 } <span class="comment">// End of namespace</span>
<a name="l00216"></a>00216
<a name="l00217"></a>00217 <span class="preprocessor">#endif</span>
</pre></div></div>
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