MRPT
2.0.3
mrpt
nav
holonomic
CHolonomicLogFileRecord.h
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/* +------------------------------------------------------------------------+
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| Mobile Robot Programming Toolkit (MRPT) |
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| https://www.mrpt.org/ |
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| |
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| Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
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| See: https://www.mrpt.org/Authors - All rights reserved. |
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| Released under BSD License. See: https://www.mrpt.org/License |
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+------------------------------------------------------------------------+ */
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#pragma once
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#include <
mrpt/math/CMatrixD.h
>
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#include <
mrpt/serialization/CSerializable.h
>
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namespace
mrpt::nav
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{
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/** \addtogroup nav_holo Holonomic navigation methods
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* \ingroup mrpt_nav_grp
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* @{ */
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/** A base class for log records for different holonomic navigation methods.
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*
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* \sa CReactiveNavigationSystem, CHolonomicLogFileRecord
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*/
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class
CHolonomicLogFileRecord
:
public
mrpt::serialization::CSerializable
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{
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DEFINE_VIRTUAL_SERIALIZABLE
(
CHolonomicLogFileRecord
)
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public
:
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/** Final [N-1] and earlier stages [0...N-1] evaluation scores for each
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* direction, in the same order of TP-Obstacles. May be not filled by all
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* methods. */
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std::vector<std::vector<double>>
dirs_eval
;
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virtual
const
mrpt::math::CMatrixD
*
getDirectionScores
()
const
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{
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return
nullptr
;
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}
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};
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/** @} */
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}
// namespace mrpt::nav
mrpt::nav::CHolonomicLogFileRecord::getDirectionScores
virtual const mrpt::math::CMatrixD * getDirectionScores() const
Definition:
CHolonomicLogFileRecord.h:33
mrpt::nav
Definition:
CAbstractHolonomicReactiveMethod.h:20
mrpt::serialization::CSerializable
The virtual base class which provides a unified interface for all persistent objects in MRPT.
Definition:
CSerializable.h:30
CMatrixD.h
DEFINE_VIRTUAL_SERIALIZABLE
#define DEFINE_VIRTUAL_SERIALIZABLE(class_name)
This declaration must be inserted in virtual CSerializable classes definition:
Definition:
CSerializable.h:171
mrpt::nav::CHolonomicLogFileRecord::dirs_eval
std::vector< std::vector< double > > dirs_eval
Final [N-1] and earlier stages [0...N-1] evaluation scores for each direction, in the same order of T...
Definition:
CHolonomicLogFileRecord.h:31
mrpt::nav::CHolonomicLogFileRecord
A base class for log records for different holonomic navigation methods.
Definition:
CHolonomicLogFileRecord.h:24
mrpt::math::CMatrixD
This class is a "CSerializable" wrapper for "CMatrixDynamic<double>".
Definition:
CMatrixD.h:23
CSerializable.h
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