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<li class="navelem"><a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html">CPoses2DSequence</a> </li>
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<a href="#pub-methods">Public Member Functions</a> |
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<div class="title">mrpt::poses::CPoses2DSequence Class Reference<div class="ingroups"><a class="el" href="group__poses__grp.html">2D/3D points and poses</a></div></div> </div>
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<!-- doxytag: class="mrpt::poses::CPoses2DSequence" --><!-- doxytag: inherits="mrpt::utils::CSerializable" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>This class stores a sequence of relative, incremental 2D poses. </p>
<p>It is useful as the bases storing unit for more complex probability particles and for computing the absolute pose of any intermediate pose.</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a>, CMultiMetricMap </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_poses2_d_sequence_8h_source.html">mrpt/poses/CPoses2DSequence.h</a>></code></p>
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Inheritance diagram for mrpt::poses::CPoses2DSequence:</div>
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<div class="center"><img src="classmrpt_1_1poses_1_1_c_poses2_d_sequence__inherit__graph.png" border="0" usemap="#mrpt_1_1poses_1_1_c_poses2_d_sequence_inherit__map" alt="Inheritance graph"/></div>
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<area shape="rect" id="node2" 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..." alt="" coords="33,80,197,107"/><area shape="rect" id="node4" href="classmrpt_1_1utils_1_1_c_object.html" title="The virtual base class of all MRPT classes with a unified RTTI system." alt="" coords="48,5,183,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1poses_1_1_c_poses2_d_sequence-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#acd17570a39714cfc67fa3ca2620c0df6">CPoses2DSequence</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor. <a href="#acd17570a39714cfc67fa3ca2620c0df6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#a9436bb442f350a33345f44e9375e3f72">posesCount</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the poses count in the sequence: <a href="#a9436bb442f350a33345f44e9375e3f72"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#a003ff6decac62f0191425a87cd697228">getPose</a> (unsigned int ind, <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &outPose)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Reads the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1" </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On invalid index value. </td></tr>
</table>
</dd>
</dl>
<a href="#a003ff6decac62f0191425a87cd697228"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#aea4556676b3e524e936ad44d13dc605d">changePose</a> (unsigned int ind, <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &inPose)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1" </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On invalid index value. </td></tr>
</table>
</dd>
</dl>
<a href="#aea4556676b3e524e936ad44d13dc605d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#a969fbc2d404541202547bccaf82e9070">appendPose</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &newPose)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Appends a new pose at the end of sequence. <a href="#a969fbc2d404541202547bccaf82e9070"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#a3af6c41db4425a7a9a24a6ca7a4f6187">clear</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Clears the sequence. <a href="#a3af6c41db4425a7a9a24a6ca7a4f6187"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#a4e693bdea9330e7baba3265d575711f3">absolutePoseOf</a> (unsigned int n)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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 of robot after moving ALL poses is returned, all of them relative to the starting pose. <a href="#a4e693bdea9330e7baba3265d575711f3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#a24698695bfbfd190170e4c6dc10f65e9">absolutePoseAfterAll</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A shortcut for "absolutePoseOf( posesCount() )". <a href="#a24698695bfbfd190170e4c6dc10f65e9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#a3d7eb54c29fc464672cb561e96199a17">computeTraveledDistanceAfter</a> (unsigned int n)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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 distance after ALL movements. <a href="#a3d7eb54c29fc464672cb561e96199a17"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#a511025f91ea57a9fbd94c24de0ca0aa5">computeTraveledDistanceAfterAll</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the traveled distance after ALL movements. <a href="#a511025f91ea57a9fbd94c24de0ca0aa5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a534695890364f4b916bba07dad311bcf">duplicateGetSmartPtr</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). <a href="#a534695890364f4b916bba07dad311bcf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a9ef7857a0b36059c078e195a0a65ac00">clone</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cloning interface for smart pointers. <a href="#a9ef7857a0b36059c078e195a0a65ac00"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-attribs"></a>
Static Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">classCObject</a></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a0b6b801e67bca3d8e0d355e7035f8013">writeToStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &out, int *getVersion) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. <a href="#a0b6b801e67bca3d8e0d355e7035f8013"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a73ba83035a64939cdc3aa1c0dfed23ec">readFromStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, int version)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. <a href="#a73ba83035a64939cdc3aa1c0dfed23ec"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1aligned__containers.html">mrpt::aligned_containers</a><br class="typebreak"/>
< <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> >::vector_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#ac5445b16d1b5af70fac05b1f518f4e38">poses</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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) <a href="#ac5445b16d1b5af70fac05b1f518f4e38"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1poses_1_1_c_poses2_d_sequence_ptr.html">CPoses2DSequencePtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#a8b9521c588dec39d5ec7bf0db99a5b84">SmartPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html">mrpt::utils::CLASSINIT</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#aaf7b8833e55cea531b25ae3568f19c46">_init_CPoses2DSequence</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#ad7368eb8ce2092a83900cb9bcdf61683">classCPoses2DSequence</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#a023addbb6f04262f1a2a4b6519e4eecb">classinfo</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#a7c9edee27ea6c36c28bf45f1b8eb83a0">_GetBaseClass</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#a551d97178f8308c6daf9fd71d826c877">GetRuntimeClass</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns information about the class of an object in runtime. <a href="#a551d97178f8308c6daf9fd71d826c877"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#aabce19dce3c15e10b340f26f4ebe535f">duplicate</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class. <a href="#aabce19dce3c15e10b340f26f4ebe535f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#afaed224330909dfbe37889ec003f6439">CreateObject</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1poses_1_1_c_poses2_d_sequence_ptr.html">CPoses2DSequencePtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#abf6767b7ddd0ac3f02d0a71c7e67f5eb">Create</a> ()</td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">classCSerializable</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::utils::CStream</a></td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a8b9521c588dec39d5ec7bf0db99a5b84"></a><!-- doxytag: member="mrpt::poses::CPoses2DSequence::SmartPtr" ref="a8b9521c588dec39d5ec7bf0db99a5b84" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1poses_1_1_c_poses2_d_sequence_ptr.html">CPoses2DSequencePtr</a> <a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#a8b9521c588dec39d5ec7bf0db99a5b84">mrpt::poses::CPoses2DSequence::SmartPtr</a></td>
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<p>A typedef for the associated smart pointer </p>
<p>Definition at line <a class="el" href="_c_poses2_d_sequence_8h_source.html#l00050">50</a> of file <a class="el" href="_c_poses2_d_sequence_8h_source.html">CPoses2DSequence.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="acd17570a39714cfc67fa3ca2620c0df6"></a><!-- doxytag: member="mrpt::poses::CPoses2DSequence::CPoses2DSequence" ref="acd17570a39714cfc67fa3ca2620c0df6" args="()" -->
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<td class="memname">mrpt::poses::CPoses2DSequence::CPoses2DSequence </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
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<p>Default constructor. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a7c9edee27ea6c36c28bf45f1b8eb83a0"></a><!-- doxytag: member="mrpt::poses::CPoses2DSequence::_GetBaseClass" ref="a7c9edee27ea6c36c28bf45f1b8eb83a0" args="()" -->
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<td class="memname">static const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::poses::CPoses2DSequence::_GetBaseClass </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static, protected]</code></td>
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<p>Reimplemented from <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a471a2d4e8bf14cdc749d43ffb8066a12">mrpt::utils::CSerializable</a>.</p>
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<a class="anchor" id="a24698695bfbfd190170e4c6dc10f65e9"></a><!-- doxytag: member="mrpt::poses::CPoses2DSequence::absolutePoseAfterAll" ref="a24698695bfbfd190170e4c6dc10f65e9" args="()" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> mrpt::poses::CPoses2DSequence::absolutePoseAfterAll </td>
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<p>A shortcut for "absolutePoseOf( posesCount() )". </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#a4e693bdea9330e7baba3265d575711f3" title="Returns the absolute pose of a robot after moving "n" poses, so for "n=0" the origin pose (0...">absolutePoseOf</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#a9436bb442f350a33345f44e9375e3f72" title="Returns the poses count in the sequence:">posesCount</a> </dd></dl>
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<a class="anchor" id="a4e693bdea9330e7baba3265d575711f3"></a><!-- doxytag: member="mrpt::poses::CPoses2DSequence::absolutePoseOf" ref="a4e693bdea9330e7baba3265d575711f3" args="(unsigned int n)" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> mrpt::poses::CPoses2DSequence::absolutePoseOf </td>
<td>(</td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>n</em></td><td>)</td>
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<p>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 of robot after moving ALL poses is returned, all of them relative to the starting pose. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On invalid index value </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#a24698695bfbfd190170e4c6dc10f65e9" title="A shortcut for "absolutePoseOf( posesCount() )".">absolutePoseAfterAll</a> </dd></dl>
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<a class="anchor" id="a969fbc2d404541202547bccaf82e9070"></a><!-- doxytag: member="mrpt::poses::CPoses2DSequence::appendPose" ref="a969fbc2d404541202547bccaf82e9070" args="(CPose2D &newPose)" -->
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<td class="memname">void mrpt::poses::CPoses2DSequence::appendPose </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>newPose</em></td><td>)</td>
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<p>Appends a new pose at the end of sequence. </p>
<p>Remember that poses are relative, incremental to the last one. </p>
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<a class="anchor" id="aea4556676b3e524e936ad44d13dc605d"></a><!-- doxytag: member="mrpt::poses::CPoses2DSequence::changePose" ref="aea4556676b3e524e936ad44d13dc605d" args="(unsigned int ind, CPose2D &inPose)" -->
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<td class="memname">void mrpt::poses::CPoses2DSequence::changePose </td>
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<td class="paramtype">unsigned int </td>
<td class="paramname"><em>ind</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>inPose</em> </td>
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<td>)</td>
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<p>Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1" </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On invalid index value. </td></tr>
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</dd>
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<a class="anchor" id="a3af6c41db4425a7a9a24a6ca7a4f6187"></a><!-- doxytag: member="mrpt::poses::CPoses2DSequence::clear" ref="a3af6c41db4425a7a9a24a6ca7a4f6187" args="()" -->
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<td class="memname">void mrpt::poses::CPoses2DSequence::clear </td>
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<p>Clears the sequence. </p>
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<a class="anchor" id="a9ef7857a0b36059c078e195a0a65ac00"></a><!-- doxytag: member="mrpt::poses::CPoses2DSequence::clone" ref="a9ef7857a0b36059c078e195a0a65ac00" args="() const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a>* mrpt::utils::CObject::clone </td>
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<td> const<code> [inline, inherited]</code></td>
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<p>Cloning interface for smart pointers. </p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable.html#acb2597d6d93b406501d9f3530eb56adf">mrpt::opengl::CRenderizable</a>, and <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#ac164cb1d2cf682778ce52967cbd56469">mrpt::opengl::CRenderizableDisplayList</a>.</p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00154">154</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="a3d7eb54c29fc464672cb561e96199a17"></a><!-- doxytag: member="mrpt::poses::CPoses2DSequence::computeTraveledDistanceAfter" ref="a3d7eb54c29fc464672cb561e96199a17" args="(unsigned int n)" -->
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<td class="memname">float mrpt::poses::CPoses2DSequence::computeTraveledDistanceAfter </td>
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<p>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 distance after ALL movements. </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On invalid index value </td></tr>
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</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#a511025f91ea57a9fbd94c24de0ca0aa5" title="Returns the traveled distance after ALL movements.">computeTraveledDistanceAfterAll</a> </dd></dl>
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<a class="anchor" id="a511025f91ea57a9fbd94c24de0ca0aa5"></a><!-- doxytag: member="mrpt::poses::CPoses2DSequence::computeTraveledDistanceAfterAll" ref="a511025f91ea57a9fbd94c24de0ca0aa5" args="()" -->
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<p>Returns the traveled distance after ALL movements. </p>
<p>A shortcut for "computeTraveledDistanceAfter( posesCount() )". </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#a3d7eb54c29fc464672cb561e96199a17" title="Returns the traveled distance after moving "n" poses, so for "n=0" it returns 0, for "n=1" the first ...">computeTraveledDistanceAfter</a> </dd></dl>
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<a class="anchor" id="abf6767b7ddd0ac3f02d0a71c7e67f5eb"></a><!-- doxytag: member="mrpt::poses::CPoses2DSequence::Create" ref="abf6767b7ddd0ac3f02d0a71c7e67f5eb" args="()" -->
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<td class="memname">static <a class="el" href="structmrpt_1_1poses_1_1_c_poses2_d_sequence_ptr.html">CPoses2DSequencePtr</a> mrpt::poses::CPoses2DSequence::Create </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static]</code></td>
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<a class="anchor" id="afaed224330909dfbe37889ec003f6439"></a><!-- doxytag: member="mrpt::poses::CPoses2DSequence::CreateObject" ref="afaed224330909dfbe37889ec003f6439" args="()" -->
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<td class="memname">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::poses::CPoses2DSequence::CreateObject </td>
<td>(</td>
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<td><code> [static]</code></td>
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<a class="anchor" id="aabce19dce3c15e10b340f26f4ebe535f"></a><!-- doxytag: member="mrpt::poses::CPoses2DSequence::duplicate" ref="aabce19dce3c15e10b340f26f4ebe535f" args="() const " -->
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<td class="memname">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::poses::CPoses2DSequence::duplicate </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [virtual]</code></td>
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<p>Returns a copy of the object, indepently of its class. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#aa1070e173c5f7e307b09c53f1fd256e2">mrpt::utils::CObject</a>.</p>
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<a class="anchor" id="a534695890364f4b916bba07dad311bcf"></a><!-- doxytag: member="mrpt::poses::CPoses2DSequence::duplicateGetSmartPtr" ref="a534695890364f4b916bba07dad311bcf" args="() const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> mrpt::utils::CObject::duplicateGetSmartPtr </td>
<td>(</td>
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<td> const<code> [inline, inherited]</code></td>
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<p>Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). </p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00151">151</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="a003ff6decac62f0191425a87cd697228"></a><!-- doxytag: member="mrpt::poses::CPoses2DSequence::getPose" ref="a003ff6decac62f0191425a87cd697228" args="(unsigned int ind, CPose2D &outPose)" -->
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<td class="memname">void mrpt::poses::CPoses2DSequence::getPose </td>
<td>(</td>
<td class="paramtype">unsigned int </td>
<td class="paramname"><em>ind</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>outPose</em> </td>
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<p>Reads the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1" </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On invalid index value. </td></tr>
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</dd>
</dl>
</p>
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<a class="anchor" id="a551d97178f8308c6daf9fd71d826c877"></a><!-- doxytag: member="mrpt::poses::CPoses2DSequence::GetRuntimeClass" ref="a551d97178f8308c6daf9fd71d826c877" args="() const " -->
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<td class="memname">virtual const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::poses::CPoses2DSequence::GetRuntimeClass </td>
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<td> const<code> [virtual]</code></td>
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<p>Returns information about the class of an object in runtime. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a6861b16159daafd1651d6e0d27f39c58">mrpt::utils::CSerializable</a>.</p>
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<a class="anchor" id="a9436bb442f350a33345f44e9375e3f72"></a><!-- doxytag: member="mrpt::poses::CPoses2DSequence::posesCount" ref="a9436bb442f350a33345f44e9375e3f72" args="()" -->
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<td class="memname">size_t mrpt::poses::CPoses2DSequence::posesCount </td>
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<p>Returns the poses count in the sequence: </p>
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<a class="anchor" id="a73ba83035a64939cdc3aa1c0dfed23ec"></a><!-- doxytag: member="mrpt::poses::CPoses2DSequence::readFromStream" ref="a73ba83035a64939cdc3aa1c0dfed23ec" args="(mrpt::utils::CStream &in, int version)=0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::readFromStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>in</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>version</em> </td>
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<td>)</td>
<td></td><td><code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for loading from a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">in</td><td>The input binary stream where the object data must read from. </td></tr>
<tr><td class="paramname">version</td><td>The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d" title="Reads a block of bytes from the stream into Buffer On any error, or if ZERO bytes are read...">CStream::ReadBuffer</a> </td></tr>
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</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a0194e57ec48c1dfc6aa00c23d3409143">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a12db95e8c32d48d2d2483936dec516a7">mrpt::math::CMatrix</a>.</p>
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<a class="anchor" id="a0b6b801e67bca3d8e0d355e7035f8013"></a><!-- doxytag: member="mrpt::poses::CPoses2DSequence::writeToStream" ref="a0b6b801e67bca3d8e0d355e7035f8013" args="(mrpt::utils::CStream &out, int *getVersion) const =0" -->
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
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<td class="paramname"><em>getVersion</em> </td>
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<td>)</td>
<td></td><td> const<code> [protected, pure virtual, inherited]</code></td>
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<p>Introduces a pure virtual method responsible for writing to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. </p>
<p>This can not be used directly be users, instead use "stream << object;" for writing it to a stream. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out</td><td>The output binary stream where object must be dumped. </td></tr>
<tr><td class="paramname">getVersion</td><td>If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. </td></tr>
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</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a276005e7110c9de74ff3277b3f7bf621" title="Writes a block of bytes to the stream from Buffer.">CStream::WriteBuffer</a> </td></tr>
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</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a767e787b52208ab4dd46ba7f5e2fd224">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a059d7eaf80dab9c7435154146d2b7dbf">mrpt::math::CMatrix</a>.</p>
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<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="a6fec28a53e20dfc1c4d046c26f9f7b48"></a><!-- doxytag: member="mrpt::poses::CPoses2DSequence::mrpt::utils::CStream" ref="a6fec28a53e20dfc1c4d046c26f9f7b48" args="" -->
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<td class="memname">friend class <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a><code> [friend, inherited]</code></td>
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<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CRandomFieldGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CObservation</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CMetricMap</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::opengl::CRenderizable</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPose3DQuatPDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPointPDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPose3DPDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPosePDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPoint2DPDF</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::opengl::CRenderizableDisplayList</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_action.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CAction</a>, <a class="el" href="classmrpt_1_1detectors_1_1_c_detectable_object.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::detectors::CDetectableObject</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_textured_object.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::opengl::CTexturedObject</a>, and <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_log_file_record.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::reactivenav::CHolonomicLogFileRecord</a>.</p>
<p>Definition at line <a class="el" href="_c_serializable_8h_source.html#l00056">56</a> of file <a class="el" href="_c_serializable_8h_source.html">CSerializable.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="aaf7b8833e55cea531b25ae3568f19c46"></a><!-- doxytag: member="mrpt::poses::CPoses2DSequence::_init_CPoses2DSequence" ref="aaf7b8833e55cea531b25ae3568f19c46" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html">mrpt::utils::CLASSINIT</a> <a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#aaf7b8833e55cea531b25ae3568f19c46">mrpt::poses::CPoses2DSequence::_init_CPoses2DSequence</a><code> [static, protected]</code></td>
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<p>Definition at line <a class="el" href="_c_poses2_d_sequence_8h_source.html#l00050">50</a> of file <a class="el" href="_c_poses2_d_sequence_8h_source.html">CPoses2DSequence.h</a>.</p>
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<a class="anchor" id="acb51e4dd811d62c2696aee449d0a4715"></a><!-- doxytag: member="mrpt::poses::CPoses2DSequence::classCObject" ref="acb51e4dd811d62c2696aee449d0a4715" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">mrpt::utils::CObject::classCObject</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00139">139</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="ad7368eb8ce2092a83900cb9bcdf61683"></a><!-- doxytag: member="mrpt::poses::CPoses2DSequence::classCPoses2DSequence" ref="ad7368eb8ce2092a83900cb9bcdf61683" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#ad7368eb8ce2092a83900cb9bcdf61683">mrpt::poses::CPoses2DSequence::classCPoses2DSequence</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_poses2_d_sequence_8h_source.html#l00050">50</a> of file <a class="el" href="_c_poses2_d_sequence_8h_source.html">CPoses2DSequence.h</a>.</p>
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">mrpt::utils::CSerializable::classCSerializable</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_serializable_8h_source.html#l00056">56</a> of file <a class="el" href="_c_serializable_8h_source.html">CSerializable.h</a>.</p>
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* <a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#a023addbb6f04262f1a2a4b6519e4eecb">mrpt::poses::CPoses2DSequence::classinfo</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_poses2_d_sequence_8h_source.html#l00050">50</a> of file <a class="el" href="_c_poses2_d_sequence_8h_source.html">CPoses2DSequence.h</a>.</p>
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<a class="anchor" id="ac5445b16d1b5af70fac05b1f518f4e38"></a><!-- doxytag: member="mrpt::poses::CPoses2DSequence::poses" ref="ac5445b16d1b5af70fac05b1f518f4e38" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1aligned__containers.html">mrpt::aligned_containers</a><<a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a>>::vector_t <a class="el" href="classmrpt_1_1poses_1_1_c_poses2_d_sequence.html#ac5445b16d1b5af70fac05b1f518f4e38">mrpt::poses::CPoses2DSequence::poses</a><code> [private]</code></td>
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<p>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) </p>
<p>Definition at line <a class="el" href="_c_poses2_d_sequence_8h_source.html#l00106">106</a> of file <a class="el" href="_c_poses2_d_sequence_8h_source.html">CPoses2DSequence.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
