Declares a class that represents a Probability Density function (PDF) of a 3D pose .
The parameter to be passed to "computeFromOdometry".
TEstimationMethod
A list of posible ways for estimating the content of a CActionRobotMovement3D object.
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
void computeFromOdometry_model6DOF(const mrpt::poses::CPose3D &odometryIncrement, const TMotionModelOptions &o)
Computes the PDF of the pose increment from an odometry reading, using the motion model for 6 DOF.
struct mrpt::obs::CActionRobotMovement3D::TMotionModelOptions motionModelConfiguration
mrpt::poses::CPose3D rawOdometryIncrementReading
This is the raw odometry reading, and only is used when "estimationMethod" is "TEstimationMethod::emO...
Represents a probabilistic 3D (6D) movement.
mrpt::math::CVectorFloat velocities
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 a...
This namespace contains representation of robot actions and observations.
std::vector< bool > hasVelocities
Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6...
CActionRobotMovement3D()=default
virtual void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the action contents and dump it to the output str...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
void computeFromOdometry(const mrpt::poses::CPose3D &odometryIncrement, const TMotionModelOptions &options)
Computes the PDF of the pose increment from an odometry reading and according to the given motion mod...
TEstimationMethod estimationMethod
This fields indicates the way this estimation was obtained.
TDrawSampleMotionModel modelSelection
The model to be used.
constexpr double DEG2RAD(const double x)
Degrees to radians
TMotionModelOptions()=default
Template for column vectors of dynamic size, compatible with Eigen.
mrpt::poses::CPose3DPDFGaussian poseChange
The 3D pose change probabilistic estimation.
float additional_std_angle
uint32_t nParticlesCount
Options for the 6DOFModel model which generates a CPosePDFParticles object an then create from that C...
Declares a class for storing a robot action.
float additional_std_XYZ
An additional noise added to the 6DOF model (std.
TOptions_6DOFModel mm6DOFModel
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