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 CPoses2DSequence_H 00029 #define CPoses2DSequence_H 00030 00031 #include <mrpt/poses/CPose2D.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( CPoses2DSequence ) 00041 00042 /** This class stores a sequence of relative, incremental 2D 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 CPose2D, CMultiMetricMap 00045 */ 00046 class MRPTDLLIMPEXP CPoses2DSequence : public mrpt::utils::CSerializable 00047 { 00048 // This must be added to any CSerializable derived class: 00049 DEFINE_SERIALIZABLE( CPoses2DSequence ) 00050 public: 00051 /** Default constructor 00052 */ 00053 CPoses2DSequence(); 00054 00055 /** Returns the poses count in the sequence: 00056 */ 00057 size_t posesCount(); 00058 00059 /** Reads the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1" 00060 * \exception std::exception On invalid index value 00061 */ 00062 void getPose(unsigned int ind, CPose2D &outPose); 00063 00064 /** Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1" 00065 * \exception std::exception On invalid index value 00066 */ 00067 void changePose(unsigned int ind, CPose2D &inPose); 00068 00069 /** Appends a new pose at the end of sequence. Remember that poses are relative, incremental to the last one. 00070 */ 00071 void appendPose(CPose2D &newPose); 00072 00073 /** Clears the sequence. 00074 */ 00075 void clear(); 00076 00077 /** 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 00078 * of robot after moving ALL poses is returned, all of them relative to the starting pose. 00079 * \exception std::exception On invalid index value 00080 * \sa absolutePoseAfterAll 00081 */ 00082 CPose2D absolutePoseOf(unsigned int n); 00083 00084 /** A shortcut for "absolutePoseOf( posesCount() )". 00085 * \sa absolutePoseOf, posesCount 00086 */ 00087 CPose2D absolutePoseAfterAll(); 00088 00089 /** 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 00090 * distance after ALL movements. 00091 * \exception std::exception On invalid index value 00092 * \sa computeTraveledDistanceAfterAll 00093 */ 00094 float computeTraveledDistanceAfter(unsigned int n); 00095 00096 /** Returns the traveled distance after ALL movements. 00097 * A shortcut for "computeTraveledDistanceAfter( posesCount() )". 00098 * \sa computeTraveledDistanceAfter 00099 */ 00100 float computeTraveledDistanceAfterAll(); 00101 00102 private: 00103 /** 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) 00104 */ 00105 std::vector<CPose2D> poses; 00106 00107 }; // End of class def. 00108 00109 00110 } // End of namespace 00111 } // End of namespace 00112 00113 #endif
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