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mrpt::nav::CLogFileRecord Class Reference

Detailed Description

A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationSystem class.

See also
CReactiveNavigationSystem, CHolonomicLogFileRecord

Definition at line 30 of file CLogFileRecord.h.

#include <mrpt/nav/reactive/CLogFileRecord.h>

Inheritance diagram for mrpt::nav::CLogFileRecord:
Inheritance graph

Classes

struct  TInfoPerPTG
 The structure used to store all relevant information about each transformation into TP-Space. More...
 

Public Member Functions

void * operator new (size_t size)
 
void * operator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
void * operator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 CLogFileRecord ()
 Constructor, builds an empty record. More...
 
virtual ~CLogFileRecord ()
 Destructor, free all objects. More...
 
void operator= (CLogFileRecord &)
 Copy . More...
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
mrpt::utils::CObjectPtr duplicateGetSmartPtr () const
 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). More...
 
CObject * clone () const
 Cloning interface for smart pointers. More...
 

Static Public Member Functions

static void * operator new (size_t size, void *ptr)
 

Public Attributes

mrpt::system::TTimeStamp timestamp
 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) More...
 
uint32_t nPTGs
 The number of PTGS: More...
 
std::vector< TInfoPerPTG, Eigen::aligned_allocator< TInfoPerPTG > > infoPerPTG
 The info for each applied PTG: must contain "nPTGs * nSecDistances" elements. More...
 
int32_t nSelectedPTG
 The selected PTG. More...
 
float executionTime
 The total computation time, excluding sensing. More...
 
float estimatedExecutionPeriod
 The estimated execution period. More...
 
mrpt::maps::CSimplePointsMap WS_Obstacles
 The WS-Obstacles. More...
 
mrpt::poses::CPose2D robotOdometryPose
 The robot pose (from raw odometry or a localization system). More...
 
mrpt::math::TPoint2D WS_target_relative
 The relative location of target point in WS. More...
 
float v
 
float w
 The final motion command sent to robot, in "m/sec" and "rad/sec". More...
 
float actual_v
 
float actual_w
 The actual robot velocities, as read from sensors, in "m/sec" and "rad/sec". More...
 
mrpt::math::CVectorFloat robotShape_x
 
mrpt::math::CVectorFloat robotShape_y
 The used robot shape in WS. More...
 
int32_t navigatorBehavior
 The navigator behavior. More...
 

Static Public Attributes

static const mrpt::utils::TRuntimeClassId classCObject
 
RTTI stuff
static const mrpt::utils::TRuntimeClassId classCSerializable
 

Protected Member Functions

CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 Introduces a pure virtual method responsible for loading from a CStream 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. More...
 

Private Member Functions

void freeInfoPerPTGs ()
 Free all objects in infoPerPTGs structures (used internally). More...
 

RTTI stuff

typedef CLogFileRecordPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CLogFileRecord
 
static mrpt::utils::TRuntimeClassId classCLogFileRecord
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CLogFileRecordPtr Create ()
 

Member Typedef Documentation

typedef CLogFileRecordPtr mrpt::nav::CLogFileRecord::SmartPtr

A typedef for the associated smart pointer

Definition at line 32 of file CLogFileRecord.h.

Constructor & Destructor Documentation

mrpt::nav::CLogFileRecord::CLogFileRecord ( )

Constructor, builds an empty record.

virtual mrpt::nav::CLogFileRecord::~CLogFileRecord ( )
virtual

Destructor, free all objects.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::nav::CLogFileRecord::_GetBaseClass ( )
staticprotected
CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 139 of file CObject.h.

static CLogFileRecordPtr mrpt::nav::CLogFileRecord::Create ( )
static
static mrpt::utils::CObject* mrpt::nav::CLogFileRecord::CreateObject ( )
static
virtual mrpt::utils::CObject* mrpt::nav::CLogFileRecord::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
inlineinherited

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).

Definition at line 136 of file CObject.h.

void mrpt::nav::CLogFileRecord::freeInfoPerPTGs ( )
private

Free all objects in infoPerPTGs structures (used internally).

virtual const mrpt::utils::TRuntimeClassId* mrpt::nav::CLogFileRecord::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

void mrpt::nav::CLogFileRecord::operator delete ( void *  ptr)
throw (
)
inline

Definition at line 32 of file CLogFileRecord.h.

void mrpt::nav::CLogFileRecord::operator delete ( void *  memory,
void *  ptr 
)
throw (
)
inline

Definition at line 32 of file CLogFileRecord.h.

void mrpt::nav::CLogFileRecord::operator delete ( void *  ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 32 of file CLogFileRecord.h.

void mrpt::nav::CLogFileRecord::operator delete[] ( void *  ptr)
throw (
)
inline

Definition at line 32 of file CLogFileRecord.h.

static void* mrpt::nav::CLogFileRecord::operator new ( size_t  size,
void *  ptr 
)
inlinestatic

Definition at line 32 of file CLogFileRecord.h.

void* mrpt::nav::CLogFileRecord::operator new ( size_t  size)
inline

Definition at line 32 of file CLogFileRecord.h.

void* mrpt::nav::CLogFileRecord::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 32 of file CLogFileRecord.h.

void* mrpt::nav::CLogFileRecord::operator new[] ( size_t  size)
inline

Definition at line 32 of file CLogFileRecord.h.

void mrpt::nav::CLogFileRecord::operator= ( CLogFileRecord )

Copy .

void mrpt::nav::CLogFileRecord::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream 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.

Parameters
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

References BASE_IMPEXP, DEFINE_MRPT_OBJECT_POST, mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), mrpt::utils::OctetVectorToObject(), mrpt::utils::RawStringToObject(), and mrpt::utils::StringToObject().

void mrpt::nav::CLogFileRecord::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters
outThe output binary stream where object must be dumped.
getVersionIf 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.
Exceptions
std::exceptionOn any error, see CStream::WriteBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::nav::CLogFileRecord::_init_CLogFileRecord
staticprotected

Definition at line 32 of file CLogFileRecord.h.

float mrpt::nav::CLogFileRecord::actual_v

Definition at line 73 of file CLogFileRecord.h.

float mrpt::nav::CLogFileRecord::actual_w

The actual robot velocities, as read from sensors, in "m/sec" and "rad/sec".

Definition at line 73 of file CLogFileRecord.h.

mrpt::utils::TRuntimeClassId mrpt::nav::CLogFileRecord::classCLogFileRecord
static

Definition at line 32 of file CLogFileRecord.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 124 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::nav::CLogFileRecord::classinfo
static

Definition at line 32 of file CLogFileRecord.h.

float mrpt::nav::CLogFileRecord::estimatedExecutionPeriod

The estimated execution period.

Definition at line 67 of file CLogFileRecord.h.

float mrpt::nav::CLogFileRecord::executionTime

The total computation time, excluding sensing.

Definition at line 66 of file CLogFileRecord.h.

std::vector<TInfoPerPTG, Eigen::aligned_allocator<TInfoPerPTG> > mrpt::nav::CLogFileRecord::infoPerPTG

The info for each applied PTG: must contain "nPTGs * nSecDistances" elements.

Definition at line 63 of file CLogFileRecord.h.

int32_t mrpt::nav::CLogFileRecord::navigatorBehavior

The navigator behavior.

Definition at line 75 of file CLogFileRecord.h.

uint32_t mrpt::nav::CLogFileRecord::nPTGs

The number of PTGS:

Definition at line 59 of file CLogFileRecord.h.

int32_t mrpt::nav::CLogFileRecord::nSelectedPTG

The selected PTG.

Definition at line 65 of file CLogFileRecord.h.

mrpt::poses::CPose2D mrpt::nav::CLogFileRecord::robotOdometryPose

The robot pose (from raw odometry or a localization system).

Definition at line 69 of file CLogFileRecord.h.

mrpt::math::CVectorFloat mrpt::nav::CLogFileRecord::robotShape_x

Definition at line 74 of file CLogFileRecord.h.

mrpt::math::CVectorFloat mrpt::nav::CLogFileRecord::robotShape_y

The used robot shape in WS.

Definition at line 74 of file CLogFileRecord.h.

mrpt::system::TTimeStamp mrpt::nav::CLogFileRecord::timestamp

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)

Definition at line 58 of file CLogFileRecord.h.

float mrpt::nav::CLogFileRecord::v

Definition at line 72 of file CLogFileRecord.h.

float mrpt::nav::CLogFileRecord::w

The final motion command sent to robot, in "m/sec" and "rad/sec".

Definition at line 72 of file CLogFileRecord.h.

mrpt::maps::CSimplePointsMap mrpt::nav::CLogFileRecord::WS_Obstacles

The WS-Obstacles.

Definition at line 68 of file CLogFileRecord.h.

mrpt::math::TPoint2D mrpt::nav::CLogFileRecord::WS_target_relative

The relative location of target point in WS.

Definition at line 70 of file CLogFileRecord.h.




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