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 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: 00053 CPoses2DSequence(); 00054 00057 size_t posesCount(); 00058 00062 void getPose(unsigned int ind, CPose2D &outPose); 00063 00067 void changePose(unsigned int ind, CPose2D &inPose); 00068 00071 void appendPose(CPose2D &newPose); 00072 00075 void clear(); 00076 00082 CPose2D absolutePoseOf(unsigned int n); 00083 00087 CPose2D absolutePoseAfterAll(); 00088 00094 float computeTraveledDistanceAfter(unsigned int n); 00095 00100 float computeTraveledDistanceAfterAll(); 00101 00102 private: 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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