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<li class="navelem"><a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html">CActionRobotMovement3D</a> </li>
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<div class="title">mrpt::slam::CActionRobotMovement3D Class Reference<div class="ingroups"><a class="el" href="group__mrpt__obs__grp.html">[mrpt-obs]</a></div></div> </div>
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<!-- doxytag: class="mrpt::slam::CActionRobotMovement3D" --><!-- doxytag: inherits="mrpt::slam::CAction" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Represents a probabilistic 3D (6D) movement. </p>
<p>Currently this can be determined from visual odometry for full 6D, or from wheel encoders for 2D movements only.</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1slam_1_1_c_action.html" title="Declares a class for storing a robot action.">CAction</a> </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_action_robot_movement3_d_8h_source.html">mrpt/slam/CActionRobotMovement3D.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::slam::CActionRobotMovement3D:</div>
<div class="dyncontent">
<div class="center"><img src="classmrpt_1_1slam_1_1_c_action_robot_movement3_d__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_action_robot_movement3_d_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_action_robot_movement3_d_inherit__map" id="mrpt_1_1slam_1_1_c_action_robot_movement3_d_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1slam_1_1_c_action.html" title="Declares a class for storing a robot action." alt="" coords="61,155,200,181"/><area shape="rect" id="node4" 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="48,80,212,107"/><area shape="rect" id="node6" 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="63,5,197,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#aa5c6d28b0ccde83789836c41cdf3816c">TEstimationMethod</a> { <a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#aa5c6d28b0ccde83789836c41cdf3816ca471ce31959eae0f2682bf7a9d9040efd">emOdometry</a> = 0,
<a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#aa5c6d28b0ccde83789836c41cdf3816ca48f98cd2128eccfcc19b69dbf8312aab">emVisualOdometry</a>
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A list of posible ways for estimating the content of a <a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html" title="Represents a probabilistic 3D (6D) movement.">CActionRobotMovement3D</a> object. <a href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#aa5c6d28b0ccde83789836c41cdf3816c">More...</a><br/></td></tr>
<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_1slam_1_1_c_action_robot_movement3_d.html#aa5899d9a4695d95bbd598ad176b7ec9f">CActionRobotMovement3D</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#aa5899d9a4695d95bbd598ad176b7ec9f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#a0fe5c8d2f2eb0ca029fe72eb82761750">~CActionRobotMovement3D</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a0fe5c8d2f2eb0ca029fe72eb82761750"></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-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html">poses::CPose3DPDFGaussian</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#a3d7e885f53d68768375db242f451e8fa">poseChange</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The 3D pose change probabilistic estimation. <a href="#a3d7e885f53d68768375db242f451e8fa"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html">poses::CPose3DQuatPDFGaussian</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#ab30060cc849daaefa0fd678417e8567b">poseChangeQuat</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#aa5c6d28b0ccde83789836c41cdf3816c">TEstimationMethod</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#acddd8b8bf5c6a36a964e2ef60dfcd1d6">estimationMethod</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This fields indicates the way this estimation was obtained. <a href="#acddd8b8bf5c6a36a964e2ef60dfcd1d6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt.html#a9fdb3cc3f73c5190fa022f858efbe6b1">vector_bool</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#ad30a9dc4ed622be0cc3e12d606109ffa">hasVelocities</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries. <a href="#ad30a9dc4ed622be0cc3e12d606109ffa"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt.html#aa271572e3985202e030758bfd54a02e1">vector_float</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#a8501fa9605e7bb1a39a950031df931d0">velocities</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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). <a href="#a8501fa9605e7bb1a39a950031df931d0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_action.html#a9d186d88fdba0217ef490b1bdd11eb17">timestamp</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The associated time-stamp. <a href="#a9d186d88fdba0217ef490b1bdd11eb17"></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"><div class="groupHeader">RTTI stuff</div></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 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="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_1slam_1_1_c_action.html#a73b9cd63508ed3b128c2691c97882aef">classCAction</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_action.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::utils::CStream</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">typedef <a class="el" href="structmrpt_1_1slam_1_1_c_action_robot_movement3_d_ptr.html">CActionRobotMovement3DPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#ab782d953391d02dbd3c169a189d6505f">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_1slam_1_1_c_action_robot_movement3_d.html#a177cc7b5196fa5209fe756972048b0cd">_init_CActionRobotMovement3D</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_1slam_1_1_c_action_robot_movement3_d.html#afea68d89b9cb588cecffde538e3687f8">classCActionRobotMovement3D</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_1slam_1_1_c_action_robot_movement3_d.html#ab1368b1ea39abff3d20618af1052c041">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_1slam_1_1_c_action_robot_movement3_d.html#a01bf47cc208b869d63b7bbe8392d701d">_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_1slam_1_1_c_action_robot_movement3_d.html#ac1e9fa9406be7b1674e237e2480a1a89">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="#ac1e9fa9406be7b1674e237e2480a1a89"></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_1slam_1_1_c_action_robot_movement3_d.html#a16bc246dde9470e74a1033da69c9866e">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="#a16bc246dde9470e74a1033da69c9866e"></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_1slam_1_1_c_action_robot_movement3_d.html#add5db78a36e8a393f61118af4e09d4d4">CreateObject</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1slam_1_1_c_action_robot_movement3_d_ptr.html">CActionRobotMovement3DPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#a3d07ea02d1b309ea74115fee07c4f91a">Create</a> ()</td></tr>
</table>
<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="ab782d953391d02dbd3c169a189d6505f"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement3D::SmartPtr" ref="ab782d953391d02dbd3c169a189d6505f" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1slam_1_1_c_action_robot_movement3_d_ptr.html">CActionRobotMovement3DPtr</a> <a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#ab782d953391d02dbd3c169a189d6505f">mrpt::slam::CActionRobotMovement3D::SmartPtr</a></td>
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<div class="memdoc">
<p>A typedef for the associated smart pointer </p>
<p>Definition at line <a class="el" href="_c_action_robot_movement3_d_8h_source.html#l00050">50</a> of file <a class="el" href="_c_action_robot_movement3_d_8h_source.html">CActionRobotMovement3D.h</a>.</p>
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</div>
<hr/><h2>Member Enumeration Documentation</h2>
<a class="anchor" id="aa5c6d28b0ccde83789836c41cdf3816c"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement3D::TEstimationMethod" ref="aa5c6d28b0ccde83789836c41cdf3816c" args="" -->
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<td class="memname">enum <a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#aa5c6d28b0ccde83789836c41cdf3816c">mrpt::slam::CActionRobotMovement3D::TEstimationMethod</a></td>
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<div class="memdoc">
<p>A list of posible ways for estimating the content of a <a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html" title="Represents a probabilistic 3D (6D) movement.">CActionRobotMovement3D</a> object. </p>
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="aa5c6d28b0ccde83789836c41cdf3816ca471ce31959eae0f2682bf7a9d9040efd"></a><!-- doxytag: member="emOdometry" ref="aa5c6d28b0ccde83789836c41cdf3816ca471ce31959eae0f2682bf7a9d9040efd" args="" -->emOdometry</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="aa5c6d28b0ccde83789836c41cdf3816ca48f98cd2128eccfcc19b69dbf8312aab"></a><!-- doxytag: member="emVisualOdometry" ref="aa5c6d28b0ccde83789836c41cdf3816ca48f98cd2128eccfcc19b69dbf8312aab" args="" -->emVisualOdometry</em> </td><td>
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</dl>
<p>Definition at line <a class="el" href="_c_action_robot_movement3_d_8h_source.html#l00055">55</a> of file <a class="el" href="_c_action_robot_movement3_d_8h_source.html">CActionRobotMovement3D.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="aa5899d9a4695d95bbd598ad176b7ec9f"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement3D::CActionRobotMovement3D" ref="aa5899d9a4695d95bbd598ad176b7ec9f" args="()" -->
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<td class="memname">mrpt::slam::CActionRobotMovement3D::CActionRobotMovement3D </td>
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<td class="paramname"></td><td>)</td>
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<p>Constructor. </p>
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<a class="anchor" id="a0fe5c8d2f2eb0ca029fe72eb82761750"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement3D::~CActionRobotMovement3D" ref="a0fe5c8d2f2eb0ca029fe72eb82761750" args="()" -->
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<td class="memname">virtual mrpt::slam::CActionRobotMovement3D::~CActionRobotMovement3D </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [virtual]</code></td>
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<p>Destructor. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a01bf47cc208b869d63b7bbe8392d701d"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement3D::_GetBaseClass" ref="a01bf47cc208b869d63b7bbe8392d701d" 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::slam::CActionRobotMovement3D::_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_1slam_1_1_c_action.html#a3847b4a10b6ab4362f0fcbc84b2d39f2">mrpt::slam::CAction</a>.</p>
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<a class="anchor" id="a9ef7857a0b36059c078e195a0a65ac00"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement3D::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="a3d07ea02d1b309ea74115fee07c4f91a"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement3D::Create" ref="a3d07ea02d1b309ea74115fee07c4f91a" args="()" -->
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<td class="memname">static <a class="el" href="structmrpt_1_1slam_1_1_c_action_robot_movement3_d_ptr.html">CActionRobotMovement3DPtr</a> mrpt::slam::CActionRobotMovement3D::Create </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static]</code></td>
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<a class="anchor" id="add5db78a36e8a393f61118af4e09d4d4"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement3D::CreateObject" ref="add5db78a36e8a393f61118af4e09d4d4" 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::slam::CActionRobotMovement3D::CreateObject </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [static]</code></td>
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<a class="anchor" id="a16bc246dde9470e74a1033da69c9866e"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement3D::duplicate" ref="a16bc246dde9470e74a1033da69c9866e" 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::slam::CActionRobotMovement3D::duplicate </td>
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<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::slam::CActionRobotMovement3D::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>
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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="ac1e9fa9406be7b1674e237e2480a1a89"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement3D::GetRuntimeClass" ref="ac1e9fa9406be7b1674e237e2480a1a89" 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::slam::CActionRobotMovement3D::GetRuntimeClass </td>
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<td class="paramname"></td><td>)</td>
<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_1slam_1_1_c_action.html#a690da3b7923e3df85ccb9c68a5a65639">mrpt::slam::CAction</a>.</p>
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<a class="anchor" id="a73ba83035a64939cdc3aa1c0dfed23ec"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement3D::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>
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<td class="paramname"><em>in</em>, </td>
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<td class="paramname"><em>version</em> </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>
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<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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<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::slam::CActionRobotMovement3D::writeToStream" ref="a0b6b801e67bca3d8e0d355e7035f8013" args="(mrpt::utils::CStream &out, int *getVersion) const =0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::writeToStream </td>
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<td class="paramname"><em>getVersion</em> </td>
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<td>)</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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<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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<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::slam::CActionRobotMovement3D::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 from <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::utils::CSerializable</a>.</p>
<p>Definition at line <a class="el" href="_c_action_8h_source.html#l00055">55</a> of file <a class="el" href="_c_action_8h_source.html">CAction.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a177cc7b5196fa5209fe756972048b0cd"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement3D::_init_CActionRobotMovement3D" ref="a177cc7b5196fa5209fe756972048b0cd" 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_1slam_1_1_c_action_robot_movement3_d.html#a177cc7b5196fa5209fe756972048b0cd">mrpt::slam::CActionRobotMovement3D::_init_CActionRobotMovement3D</a><code> [static, protected]</code></td>
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<p>Definition at line <a class="el" href="_c_action_robot_movement3_d_8h_source.html#l00050">50</a> of file <a class="el" href="_c_action_robot_movement3_d_8h_source.html">CActionRobotMovement3D.h</a>.</p>
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<a class="anchor" id="a73b9cd63508ed3b128c2691c97882aef"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement3D::classCAction" ref="a73b9cd63508ed3b128c2691c97882aef" 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_1slam_1_1_c_action.html#a73b9cd63508ed3b128c2691c97882aef">mrpt::slam::CAction::classCAction</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_action_8h_source.html#l00055">55</a> of file <a class="el" href="_c_action_8h_source.html">CAction.h</a>.</p>
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<a class="anchor" id="afea68d89b9cb588cecffde538e3687f8"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement3D::classCActionRobotMovement3D" ref="afea68d89b9cb588cecffde538e3687f8" 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_1slam_1_1_c_action_robot_movement3_d.html#afea68d89b9cb588cecffde538e3687f8">mrpt::slam::CActionRobotMovement3D::classCActionRobotMovement3D</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_action_robot_movement3_d_8h_source.html#l00050">50</a> of file <a class="el" href="_c_action_robot_movement3_d_8h_source.html">CActionRobotMovement3D.h</a>.</p>
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<a class="anchor" id="acb51e4dd811d62c2696aee449d0a4715"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement3D::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="a28ec2a03d277a8469b8ecfc81892afdf"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement3D::classCSerializable" ref="a28ec2a03d277a8469b8ecfc81892afdf" 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_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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<a class="anchor" id="ab1368b1ea39abff3d20618af1052c041"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement3D::classinfo" ref="ab1368b1ea39abff3d20618af1052c041" 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_1slam_1_1_c_action_robot_movement3_d.html#ab1368b1ea39abff3d20618af1052c041">mrpt::slam::CActionRobotMovement3D::classinfo</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_action_robot_movement3_d_8h_source.html#l00050">50</a> of file <a class="el" href="_c_action_robot_movement3_d_8h_source.html">CActionRobotMovement3D.h</a>.</p>
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<a class="anchor" id="acddd8b8bf5c6a36a964e2ef60dfcd1d6"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement3D::estimationMethod" ref="acddd8b8bf5c6a36a964e2ef60dfcd1d6" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#aa5c6d28b0ccde83789836c41cdf3816c">TEstimationMethod</a> <a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#acddd8b8bf5c6a36a964e2ef60dfcd1d6">mrpt::slam::CActionRobotMovement3D::estimationMethod</a></td>
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<p>This fields indicates the way this estimation was obtained. </p>
<p>Definition at line <a class="el" href="_c_action_robot_movement3_d_8h_source.html#l00077">77</a> of file <a class="el" href="_c_action_robot_movement3_d_8h_source.html">CActionRobotMovement3D.h</a>.</p>
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<td class="memname"><a class="el" href="namespacemrpt.html#a9fdb3cc3f73c5190fa022f858efbe6b1">vector_bool</a> <a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#ad30a9dc4ed622be0cc3e12d606109ffa">mrpt::slam::CActionRobotMovement3D::hasVelocities</a></td>
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<p>Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries. </p>
<p>Definition at line <a class="el" href="_c_action_robot_movement3_d_8h_source.html#l00081">81</a> of file <a class="el" href="_c_action_robot_movement3_d_8h_source.html">CActionRobotMovement3D.h</a>.</p>
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<a class="anchor" id="a3d7e885f53d68768375db242f451e8fa"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement3D::poseChange" ref="a3d7e885f53d68768375db242f451e8fa" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f_gaussian.html">poses::CPose3DPDFGaussian</a> <a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#a3d7e885f53d68768375db242f451e8fa">mrpt::slam::CActionRobotMovement3D::poseChange</a></td>
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<p>The 3D pose change probabilistic estimation. </p>
<p>Definition at line <a class="el" href="_c_action_robot_movement3_d_8h_source.html#l00071">71</a> of file <a class="el" href="_c_action_robot_movement3_d_8h_source.html">CActionRobotMovement3D.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f_gaussian.html">poses::CPose3DQuatPDFGaussian</a> <a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#ab30060cc849daaefa0fd678417e8567b">mrpt::slam::CActionRobotMovement3D::poseChangeQuat</a></td>
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<p>Definition at line <a class="el" href="_c_action_robot_movement3_d_8h_source.html#l00072">72</a> of file <a class="el" href="_c_action_robot_movement3_d_8h_source.html">CActionRobotMovement3D.h</a>.</p>
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<a class="anchor" id="a9d186d88fdba0217ef490b1bdd11eb17"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement3D::timestamp" ref="a9d186d88fdba0217ef490b1bdd11eb17" args="" -->
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<td class="memname"><a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a> <a class="el" href="classmrpt_1_1slam_1_1_c_action.html#a9d186d88fdba0217ef490b1bdd11eb17">mrpt::slam::CAction::timestamp</a><code> [inherited]</code></td>
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<p>The associated time-stamp. </p>
<p>This was added at 2-Dec-2007, new serialization versions have been added to derived classes to manage this time-stamp. Prior versions will be read as having a INVALID_TIMESTAMP value. </p>
<p>Definition at line <a class="el" href="_c_action_8h_source.html#l00069">69</a> of file <a class="el" href="_c_action_8h_source.html">CAction.h</a>.</p>
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<td class="memname"><a class="el" href="namespacemrpt.html#aa271572e3985202e030758bfd54a02e1">vector_float</a> <a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#a8501fa9605e7bb1a39a950031df931d0">mrpt::slam::CActionRobotMovement3D::velocities</a></td>
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<p>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). </p>
<p>Definition at line <a class="el" href="_c_action_robot_movement3_d_8h_source.html#l00085">85</a> of file <a class="el" href="_c_action_robot_movement3_d_8h_source.html">CActionRobotMovement3D.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>
