This class stores a sequence of relative, incremental 3D poses.
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
void changePose(unsigned int ind, CPose3D &inPose)
Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1".
void appendPose(CPose3D &newPose)
Appends a new pose at the end of sequence.
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
std::vector< mrpt::math::TPose3D > m_poses
The internal sequence of poses, stored as relative, incremental poses, thus each one is situated just...
CPose3D absolutePoseOf(unsigned int n)
Returns the absolute pose of a robot after moving "n" poses, so for "n=0" the origin pose (0,...
void clear()
Clears the sequence.
double computeTraveledDistanceAfterAll()
Returns the traveled distance after ALL movements.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
The virtual base class which provides a unified interface for all persistent objects in MRPT.
size_t posesCount()
Returns the poses count in the sequence:
void getPose(unsigned int ind, CPose3D &outPose)
Reads the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1".
double computeTraveledDistanceAfter(size_t n)
Returns the traveled distance after moving "n" poses, so for "n=0" it returns 0, for "n=1" the first ...
CPose3D absolutePoseAfterAll()
A shortcut for "absolutePoseOf( posesCount() )".
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