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<div class="title">CActionRobotMovement3D.h</div> </div>
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<a href="_c_action_robot_movement3_d_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 CActionRobotMovement3D_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CActionRobotMovement3D_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_pose3_d_p_d_f_gaussian_8h.html">mrpt/poses/CPose3DPDFGaussian.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_quat_p_d_f_gaussian_8h.html">mrpt/poses/CPose3DQuatPDFGaussian.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="keyword">namespace </span>mrpt
<a name="l00036"></a>00036 {
<a name="l00037"></a>00037 <span class="keyword">namespace </span>slam
<a name="l00038"></a>00038 {
<a name="l00039"></a><a class="code" href="structmrpt_1_1slam_1_1_c_action_robot_movement3_d_ptr.html#a80124b43115c32a35e704cd61a781443">00039</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_robot_movement3_d.html" title="Represents a probabilistic 3D (6D) movement.">CActionRobotMovement3D</a>, <a class="code" href="classmrpt_1_1slam_1_1_c_action.html" title="Declares a class for storing a robot action.">CAction</a>, <a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a> )
<a name="l00040"></a>00040
<a name="l00041"></a>00041 <span class="comment">/** Represents a probabilistic 3D (6D) movement.</span>
<a name="l00042"></a>00042 <span class="comment"> * Currently this can be determined from visual odometry for full 6D, or from wheel encoders for 2D movements only.</span>
<a name="l00043"></a>00043 <span class="comment"> *</span>
<a name="l00044"></a>00044 <span class="comment"> * \ingroup mrpt_obs_grp</span>
<a name="l00045"></a>00045 <span class="comment"> * \sa CAction</span>
<a name="l00046"></a>00046 <span class="comment"> */</span>
<a name="l00047"></a>00047 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_robot_movement3_d.html" title="Represents a probabilistic 3D (6D) movement.">CActionRobotMovement3D</a> : public <a class="code" href="classmrpt_1_1slam_1_1_c_action.html" title="Declares a class for storing a robot action.">CAction</a>
<a name="l00048"></a>00048 {
<a name="l00049"></a>00049 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00050"></a><a class="code" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#ab782d953391d02dbd3c169a189d6505f">00050</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_robot_movement3_d.html" title="Represents a probabilistic 3D (6D) movement.">CActionRobotMovement3D</a> )
<a name="l00051"></a>00051
<a name="l00052"></a>00052 public:<span class="comment"></span>
<a name="l00053"></a>00053 <span class="comment"> /** A list of posible ways for estimating the content of a CActionRobotMovement3D object.</span>
<a name="l00054"></a>00054 <span class="comment"> */</span>
<a name="l00055"></a><a class="code" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#aa5c6d28b0ccde83789836c41cdf3816c">00055</a> enum <a class="code" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#aa5c6d28b0ccde83789836c41cdf3816c" title="A list of posible ways for estimating the content of a CActionRobotMovement3D object.">TEstimationMethod</a>
<a name="l00056"></a>00056 {
<a name="l00057"></a><a class="code" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#aa5c6d28b0ccde83789836c41cdf3816ca471ce31959eae0f2682bf7a9d9040efd">00057</a> emOdometry = 0,
<a name="l00058"></a><a class="code" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#aa5c6d28b0ccde83789836c41cdf3816ca48f98cd2128eccfcc19b69dbf8312aab">00058</a> emVisualOdometry
<a name="l00059"></a>00059 };
<a name="l00060"></a>00060 <span class="comment"></span>
<a name="l00061"></a>00061 <span class="comment"> /** Constructor</span>
<a name="l00062"></a>00062 <span class="comment"> */</span>
<a name="l00063"></a>00063 <a class="code" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html" title="Represents a probabilistic 3D (6D) movement.">CActionRobotMovement3D</a>();
<a name="l00064"></a>00064 <span class="comment"></span>
<a name="l00065"></a>00065 <span class="comment"> /** Destructor</span>
<a name="l00066"></a>00066 <span class="comment"> */</span>
<a name="l00067"></a>00067 <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html" title="Represents a probabilistic 3D (6D) movement.">CActionRobotMovement3D</a>();
<a name="l00068"></a>00068 <span class="comment"></span>
<a name="l00069"></a>00069 <span class="comment"> /** The 3D pose change probabilistic estimation.</span>
<a name="l00070"></a>00070 <span class="comment"> */</span>
<a name="l00071"></a><a class="code" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#a3d7e885f53d68768375db242f451e8fa">00071</a> poses<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> <a class="code" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#a3d7e885f53d68768375db242f451e8fa" title="The 3D pose change probabilistic estimation.">poseChange</a>;
<a name="l00072"></a><a class="code" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#ab30060cc849daaefa0fd678417e8567b">00072</a> poses<a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html" title="Declares a class that represents a Probability Density function (PDF) of a 3D pose using a quaternion...">::CPose3DQuatPDFGaussian</a> <a class="code" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#ab30060cc849daaefa0fd678417e8567b">poseChangeQuat</a>;
<a name="l00073"></a>00073
<a name="l00074"></a>00074 <span class="comment"></span>
<a name="l00075"></a>00075 <span class="comment"> /** This fields indicates the way this estimation was obtained.</span>
<a name="l00076"></a>00076 <span class="comment"> */</span>
<a name="l00077"></a><a class="code" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#acddd8b8bf5c6a36a964e2ef60dfcd1d6">00077</a> <a class="code" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#aa5c6d28b0ccde83789836c41cdf3816c" title="A list of posible ways for estimating the content of a CActionRobotMovement3D object.">TEstimationMethod</a> <a class="code" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#acddd8b8bf5c6a36a964e2ef60dfcd1d6" title="This fields indicates the way this estimation was obtained.">estimationMethod</a>;
<a name="l00078"></a>00078 <span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /** Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries.</span>
<a name="l00080"></a>00080 <span class="comment"> */</span>
<a name="l00081"></a><a class="code" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#ad30a9dc4ed622be0cc3e12d606109ffa">00081</a> <a class="code" href="classstd_1_1vector.html" title="STL class.">vector_bool</a> <a class="code" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#ad30a9dc4ed622be0cc3e12d606109ffa" title="Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6...">hasVelocities</a>;
<a name="l00082"></a>00082 <span class="comment"></span>
<a name="l00083"></a>00083 <span class="comment"> /** 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).</span>
<a name="l00084"></a>00084 <span class="comment"> */</span>
<a name="l00085"></a><a class="code" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#a8501fa9605e7bb1a39a950031df931d0">00085</a> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_float</a> <a class="code" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#a8501fa9605e7bb1a39a950031df931d0" title="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...">velocities</a>;
<a name="l00086"></a>00086
<a name="l00087"></a>00087 }; <span class="comment">// End of class def.</span>
<a name="l00088"></a>00088
<a name="l00089"></a>00089
<a name="l00090"></a>00090 } <span class="comment">// End of namespace</span>
<a name="l00091"></a>00091 } <span class="comment">// End of namespace</span>
<a name="l00092"></a>00092
<a name="l00093"></a>00093 <span class="preprocessor">#endif</span>
</pre></div></div>
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