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<a href="_c_log_file_record_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 CLogFileRecord_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CLogFileRecord_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_serializable_8h.html">mrpt/utils/CSerializable.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_simple_points_map_8h.html">mrpt/slam/CSimplePointsMap.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="preprocessor">#include "<a class="code" href="_c_holonomic_log_file_record_8h.html">CHolonomicLogFileRecord.h</a>"</span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="keyword">namespace </span>mrpt
<a name="l00038"></a>00038 {
<a name="l00039"></a>00039 <span class="keyword">namespace </span>reactivenav
<a name="l00040"></a>00040 {
<a name="l00041"></a>00041 <span class="keyword">using namespace </span>mrpt::utils;
<a name="l00042"></a>00042
<a name="l00043"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_log_file_record_ptr.html#aeffe4f15708b8d923c3e88dd27e07b41">00043</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_1reactivenav_1_1_c_log_file_record.html" title="A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationS...">CLogFileRecord</a>, <a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">mrpt::utils::CSerializable</a>, <a class="code" href="reactivenav_2include_2mrpt_2reactivenav_2link__pragmas_8h.html#aa2168e902b4c1dd548d6129461f0c519">REACTIVENAV_IMPEXP</a> )
<a name="l00044"></a>00044
<a name="l00045"></a>00045 <span class="comment">/** A class for storing, saving and loading a reactive navigation</span>
<a name="l00046"></a>00046 <span class="comment"> * log record for the CReactiveNavigationSystem class.</span>
<a name="l00047"></a>00047 <span class="comment"> * \sa CReactiveNavigationSystem, CHolonomicLogFileRecord</span>
<a name="l00048"></a>00048 <span class="comment"> * \ingroup mrpt_reactivenav_grp</span>
<a name="l00049"></a>00049 <span class="comment"> */</span>
<a name="l00050"></a>00050 class <a class="code" href="reactivenav_2include_2mrpt_2reactivenav_2link__pragmas_8h.html#aa2168e902b4c1dd548d6129461f0c519">REACTIVENAV_IMPEXP</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html" title="A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationS...">CLogFileRecord</a> : public <a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">CSerializable</a>
<a name="l00051"></a>00051 {
<a name="l00052"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#ac6864ead43feec00378f83c05439a4d1">00052</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html" title="A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationS...">CLogFileRecord</a> )
<a name="l00053"></a>00053
<a name="l00054"></a>00054 public:
<a name="l00055"></a>00055 <a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html" title="A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationS...">CLogFileRecord</a>(); <span class="comment">//!< Constructor, builds an empty record.</span>
<a name="l00056"></a>00056 <span class="comment"></span> virtual ~CLogFileRecord(); <span class="comment">//!< Destructor, free all objects.</span>
<a name="l00057"></a>00057 <span class="comment"></span>
<a name="l00058"></a>00058 <span class="keywordtype">void</span> operator =( CLogFileRecord &); <span class="comment">//!< Copy .</span>
<a name="l00059"></a>00059 <span class="comment"></span><span class="comment"></span>
<a name="l00060"></a>00060 <span class="comment"> /** The structure used to store all relevant information about each</span>
<a name="l00061"></a>00061 <span class="comment"> * transformation into TP-Space.</span>
<a name="l00062"></a>00062 <span class="comment"> * \ingroup mrpt_reactivenav_grp</span>
<a name="l00063"></a>00063 <span class="comment"> */</span>
<a name="l00064"></a>00064 struct <a class="code" href="structmrpt_1_1reactivenav_1_1_c_log_file_record_1_1_t_info_per_p_t_g.html" title="The structure used to store all relevant information about each transformation into TP-Space...">TInfoPerPTG</a>
<a name="l00065"></a>00065 {
<a name="l00066"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_log_file_record_1_1_t_info_per_p_t_g.html#a7dd9520a26f457a2df476951bade490c">00066</a> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <a class="code" href="structmrpt_1_1reactivenav_1_1_c_log_file_record_1_1_t_info_per_p_t_g.html#a7dd9520a26f457a2df476951bade490c" title="A short description for the applied PTG.">PTG_desc</a>; <span class="comment">//!< A short description for the applied PTG</span>
<a name="l00067"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_log_file_record_1_1_t_info_per_p_t_g.html#a96747042419596e30eb89f17beea4dc5">00067</a> <span class="comment"></span> <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="structmrpt_1_1reactivenav_1_1_c_log_file_record_1_1_t_info_per_p_t_g.html#a96747042419596e30eb89f17beea4dc5" title="Distances until obstacles, in "pseudometers", first index for -PI direction, last one for PI directio...">TP_Obstacles</a>; <span class="comment">//!< Distances until obstacles, in "pseudometers", first index for -PI direction, last one for PI direction.</span>
<a name="l00068"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_log_file_record_1_1_t_info_per_p_t_g.html#a92320898900fa4e082bf2a2d4d3b0cdf">00068</a> <span class="comment"></span> mrpt<a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html" title="A class used to store a 2D point.">::poses::CPoint2D</a> <a class="code" href="structmrpt_1_1reactivenav_1_1_c_log_file_record_1_1_t_info_per_p_t_g.html#a92320898900fa4e082bf2a2d4d3b0cdf" title="Target location in TP-Space.">TP_Target</a>; <span class="comment">//!< Target location in TP-Space</span>
<a name="l00069"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_log_file_record_1_1_t_info_per_p_t_g.html#ab58319066aec97e99cd94fd0b966e7c5">00069</a> <span class="comment"></span> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1reactivenav_1_1_c_log_file_record_1_1_t_info_per_p_t_g.html#ab58319066aec97e99cd94fd0b966e7c5">timeForTPObsTransformation</a>,timeForHolonomicMethod; <span class="comment">//!< Time, in seconds.</span>
<a name="l00070"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_log_file_record_1_1_t_info_per_p_t_g.html#a823eca15f767c86eede575f6cb2e77cb">00070</a> <span class="comment"></span> <span class="keywordtype">float</span> desiredDirection,desiredSpeed, <a class="code" href="structmrpt_1_1reactivenav_1_1_c_log_file_record_1_1_t_info_per_p_t_g.html#a823eca15f767c86eede575f6cb2e77cb" title="The results from the holonomic method.">evaluation</a>; <span class="comment">//!< The results from the holonomic method.</span>
<a name="l00071"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_log_file_record_1_1_t_info_per_p_t_g.html#ac181ee0f6ec13d638a1418c46eb3aee0">00071</a> <span class="comment"></span> <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="structmrpt_1_1reactivenav_1_1_c_log_file_record_1_1_t_info_per_p_t_g.html#ac181ee0f6ec13d638a1418c46eb3aee0" title="Evaluation factors.">evalFactors</a>; <span class="comment">//!< Evaluation factors</span>
<a name="l00072"></a><a class="code" href="structmrpt_1_1reactivenav_1_1_c_log_file_record_1_1_t_info_per_p_t_g.html#af29f9a43865be4caeab538157ce5b6a4">00072</a> <span class="comment"></span> <a class="code" href="structmrpt_1_1reactivenav_1_1_c_holonomic_log_file_record_ptr.html">CHolonomicLogFileRecordPtr</a> <a class="code" href="structmrpt_1_1reactivenav_1_1_c_log_file_record_1_1_t_info_per_p_t_g.html#af29f9a43865be4caeab538157ce5b6a4" title="Other useful info about holonomic method execution.">HLFR</a>; <span class="comment">//!< Other useful info about holonomic method execution.</span>
<a name="l00073"></a>00073 <span class="comment"></span> };
<a name="l00074"></a>00074
<a name="l00075"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#ad4f005b446a2c35ac6ced60936c27572">00075</a> mrpt<a class="code" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a" title="A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...">::system::TTimeStamp</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#ad4f005b446a2c35ac6ced60936c27572" title="The timestamp of when this log was processed by the reactive algorithm (It can be INVALID_TIMESTAMP f...">timestamp</a>; <span class="comment">//!< The timestamp of when this log was processed by the reactive algorithm (It can be INVALID_TIMESTAMP for navigation logs in MRPT <0.9.5)</span>
<a name="l00076"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#a4a2ead9f72af83d593105e81d3df4edf">00076</a> <span class="comment"></span> uint32_t <a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#a4a2ead9f72af83d593105e81d3df4edf" title="The number of PTGS:">nPTGs</a>; <span class="comment">//!< The number of PTGS:</span>
<a name="l00077"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#a89544412f893138c900aa5d4cfa27892">00077</a> <span class="comment"></span> <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_1reactivenav_1_1_c_log_file_record.html#a89544412f893138c900aa5d4cfa27892" title="The security distances:">securityDistances</a>; <span class="comment">//!< The security distances:</span>
<a name="l00078"></a>00078 <span class="comment"></span><span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /** The info for each applied PTG: must contain "nPTGs·nSecDistances" elements</span>
<a name="l00080"></a>00080 <span class="comment"> */</span>
<a name="l00081"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#a2b20cd4ac9f23f82e9d96f3e178936e4">00081</a> std<a class="code" href="classstd_1_1vector.html" title="STL class.">::vector<TInfoPerPTG, Eigen::aligned_allocator<TInfoPerPTG></a> > <a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#a2b20cd4ac9f23f82e9d96f3e178936e4" title="The info for each applied PTG: must contain "nPTGs·nSecDistances" elements.">infoPerPTG</a>;
<a name="l00082"></a>00082
<a name="l00083"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#ab897861778662de04c329cbe0af49935">00083</a> int32_t <a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#ab897861778662de04c329cbe0af49935" title="The selected PTG.">nSelectedPTG</a>; <span class="comment">//!< The selected PTG.</span>
<a name="l00084"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#aae44f10084b68a8bdbf2f56d688fff2e">00084</a> <span class="comment"></span> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#aae44f10084b68a8bdbf2f56d688fff2e" title="The total computation time, excluding sensing.">executionTime</a>; <span class="comment">//!< The total computation time, excluding sensing.</span>
<a name="l00085"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#acff2eb769680e42d356d87bc717c925b">00085</a> <span class="comment"></span> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#acff2eb769680e42d356d87bc717c925b" title="The estimated execution period.">estimatedExecutionPeriod</a>; <span class="comment">//!< The estimated execution period.</span>
<a name="l00086"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#a1a08106bac7c6cafe85ae08171166e42">00086</a> <span class="comment"></span> mrpt<a class="code" href="classmrpt_1_1slam_1_1_c_simple_points_map.html" title="A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.">::slam::CSimplePointsMap</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#a1a08106bac7c6cafe85ae08171166e42" title="The WS-Obstacles.">WS_Obstacles</a>; <span class="comment">//!< The WS-Obstacles</span>
<a name="l00087"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#a9a56cd0f6e6fddc465396d04838f687e">00087</a> <span class="comment"></span> mrpt<a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">::poses::CPose2D</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#a9a56cd0f6e6fddc465396d04838f687e" title="The robot pose (from raw odometry or a localization system).">robotOdometryPose</a>; <span class="comment">//!< The robot pose (from raw odometry or a localization system).</span>
<a name="l00088"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#a6d97b42aed13fc2c50aba4f3aa80701d">00088</a> <span class="comment"></span> mrpt<a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html" title="A class used to store a 2D point.">::poses::CPoint2D</a> <a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#a6d97b42aed13fc2c50aba4f3aa80701d" title="The relative location of target point in WS.">WS_target_relative</a>; <span class="comment">//!< The relative location of target point in WS.</span>
<a name="l00089"></a>00089 <span class="comment"></span>
<a name="l00090"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#aeef077f449be8a83122f0cace6453fa7">00090</a> <span class="keywordtype">float</span> v,<a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#aeef077f449be8a83122f0cace6453fa7" title="The final motion command sent to robot, in "m/sec" and "rad/sec".">w</a>; <span class="comment">//!< The final motion command sent to robot, in "m/sec" and "rad/sec".</span>
<a name="l00091"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#a064ec51c2487ee75ccd55f8ced8d5d25">00091</a> <span class="comment"></span> <span class="keywordtype">float</span> actual_v,<a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#a064ec51c2487ee75ccd55f8ced8d5d25" title="The actual robot velocities, as read from sensors, in "m/sec" and "rad/sec".">actual_w</a>; <span class="comment">//!< The actual robot velocities, as read from sensors, in "m/sec" and "rad/sec".</span>
<a name="l00092"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#af2af5f6877a4a2431ef06ac09c1ffc0f">00092</a> <span class="comment"></span> <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> robotShape_x,<a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#af2af5f6877a4a2431ef06ac09c1ffc0f" title="The used robot shape in WS.">robotShape_y</a>; <span class="comment">//!< The used robot shape in WS.</span>
<a name="l00093"></a><a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#a5082cc832f338f1d7ba2bb9275df3f76">00093</a> <span class="comment"></span> int32_t <a class="code" href="classmrpt_1_1reactivenav_1_1_c_log_file_record.html#a5082cc832f338f1d7ba2bb9275df3f76" title="The navigator behavior.">navigatorBehavior</a>; <span class="comment">//!< The navigator behavior.</span>
<a name="l00094"></a>00094 <span class="comment"></span>
<a name="l00095"></a>00095 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l00096"></a>00096 <span class="comment"> /** Free all objects in infoPerPTGs structures (used internally).</span>
<a name="l00097"></a>00097 <span class="comment"> */</span>
<a name="l00098"></a>00098 <span class="keywordtype">void</span> freeInfoPerPTGs();
<a name="l00099"></a>00099
<a name="l00100"></a>00100
<a name="l00101"></a>00101 };
<a name="l00102"></a>00102
<a name="l00103"></a>00103 }
<a name="l00104"></a>00104 }
<a name="l00105"></a>00105
<a name="l00106"></a>00106
<a name="l00107"></a>00107 <span class="preprocessor">#endif</span>
<a name="l00108"></a>00108 <span class="preprocessor"></span>
</pre></div></div>
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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>
