00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CPoses3DSequence_H 00029 #define CPoses3DSequence_H 00030 00031 #include <mrpt/poses/CPose3D.h> 00032 #include <mrpt/utils/CSerializable.h> 00033 00034 namespace mrpt 00035 { 00036 namespace poses 00037 { 00038 00039 // This must be added to any CSerializable derived class: 00040 DEFINE_SERIALIZABLE_PRE( CPoses3DSequence ) 00041 00042 /** This class stores a sequence of relative, incremental 3D poses. It is useful as the bases storing unit for more complex probability particles and for computing the absolute pose of any intermediate pose. 00043 * 00044 * \sa CPose3D, CMultiMetricMap 00045 */ 00046 class MRPTDLLIMPEXP CPoses3DSequence : public mrpt::utils::CSerializable 00047 { 00048 // This must be added to any CSerializable derived class: 00049 DEFINE_SERIALIZABLE( CPoses3DSequence ) 00050 public: 00051 /** Default constructor 00052 */ 00053 CPoses3DSequence(); 00054 00055 00056 /** Returns the poses count in the sequence: 00057 */ 00058 size_t posesCount(); 00059 00060 /** Reads the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1" 00061 * \exception std::exception On invalid index value 00062 */ 00063 void getPose(unsigned int ind, CPose3D &outPose); 00064 00065 /** Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1" 00066 * \exception std::exception On invalid index value 00067 */ 00068 void changePose(unsigned int ind, CPose3D &inPose); 00069 00070 /** Appends a new pose at the end of sequence. Remember that poses are relative, incremental to the last one. 00071 */ 00072 void appendPose(CPose3D &newPose); 00073 00074 /** Clears the sequence. 00075 */ 00076 void clear(); 00077 00078 /** Returns the absolute pose of a robot after moving "n" poses, so for "n=0" the origin pose (0,0,0deg) is returned, for "n=1" the first pose is returned, and for "n=posesCount()", the pose 00079 * of robot after moving ALL poses is returned, all of them relative to the starting pose. 00080 * \exception std::exception On invalid index value 00081 * \sa absolutePoseAfterAll 00082 */ 00083 CPose3D absolutePoseOf(unsigned int n); 00084 00085 /** A shortcut for "absolutePoseOf( posesCount() )". 00086 * \sa absolutePoseOf, posesCount 00087 */ 00088 CPose3D absolutePoseAfterAll(); 00089 00090 /** Returns the traveled distance after moving "n" poses, so for "n=0" it returns 0, for "n=1" the first traveled distance, and for "n=posesCount()", the total 00091 * distance after ALL movements. 00092 * \exception std::exception On invalid index value 00093 * \sa computeTraveledDistanceAfterAll 00094 */ 00095 float computeTraveledDistanceAfter(unsigned int n); 00096 00097 /** Returns the traveled distance after ALL movements. 00098 * A shortcut for "computeTraveledDistanceAfter( posesCount() )". 00099 * \sa computeTraveledDistanceAfter 00100 */ 00101 float computeTraveledDistanceAfterAll(); 00102 00103 private: 00104 /** The internal sequence of poses, stored as relative, incremental poses, thus each one is situated just at the end point of last one, where the first one is referenced to (0,0,0deg) 00105 */ 00106 std::vector<mrpt::math::TPose3D> m_poses; 00107 00108 }; // End of class def. 00109 00110 00111 } // End of namespace 00112 } // End of namespace 00113 00114 #endif
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