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mrpt::slam::CActionCollection Class Reference

Declares a class for storing a collection of robot actions. More...

#include <mrpt/slam/CActionCollection.h>

Inheritance diagram for mrpt::slam::CActionCollection:

mrpt::utils::CSerializable

List of all members.

Public Types

typedef std::deque< CActionPtr >
::iterator 
iterator
 You can use CActionCollection::begin to get a iterator to the first element.
typedef std::deque< CActionPtr >
::const_iterator 
const_iterator
 You can use CActionCollection::begin to get a iterator to the first element.

Public Member Functions

 CActionCollection ()
 Constructor.
 CActionCollection (CAction &a)
 Constructor from a single action.
 CActionCollection (const CActionCollection &o)
 Copy Constructor.
CActionCollectionoperator= (const CActionCollection &o)
 Copy operator.
 ~CActionCollection ()
 Destructor.
const_iterator begin () const
 Returns a iterator to the first action: this is an example of usage:.
iterator begin ()
 Returns a iterator to the first action: this is an example of usage:.
const_iterator end () const
 Returns a iterator pointing to the end of the list: this is an example of usage:.
iterator end ()
 Returns a iterator pointing to the end of the list: this is an example of usage:.
iterator erase (const iterator &it)
 Removes the given action in the list, and return an iterator to the next element (or this->end() if it was the last one).
void clear ()
 Erase all actions from the list.
CActionPtr get (size_t index)
 Access the i'th action.DO NOT MODIFY the returned object, make a copy of ir with "CSerializable::duplicate" if desired.
template<typename T >
T::SmartPtr getActionByClass (const size_t &ith=0) const
 Access to the i'th action of a given class, or a NULL smart pointer if there is no action of that class in the list.
void insert (CAction &action)
 Add a new object to the list.
size_t size ()
 Returns the actions count in the collection.
CActionRobotMovement2DPtr getBestMovementEstimation () const
 Returns the best pose increment estimator in the collection, based on the determinant of its pose change covariance matrix.
CActionRobotMovement2DPtr getMovementEstimationByType (CActionRobotMovement2D::TEstimationMethod method)
 Returns the pose increment estimator in the collection having the specified type.
void eraseByIndex (const size_t &index)
 Remove an action from the list by its index.

Protected Attributes

std::deque< CActionPtr > m_actions
 The actions:.


Detailed Description

Declares a class for storing a collection of robot actions.

It is used in mrpt::slam::CRawlog, for logs storage and particle filter based simulations.

See also:
CAction, CRawlog

Definition at line 47 of file CActionCollection.h.


Member Typedef Documentation

You can use CActionCollection::begin to get a iterator to the first element.

Definition at line 84 of file CActionCollection.h.

typedef std::deque<CActionPtr>::iterator mrpt::slam::CActionCollection::iterator

You can use CActionCollection::begin to get a iterator to the first element.

Definition at line 80 of file CActionCollection.h.


Constructor & Destructor Documentation

mrpt::slam::CActionCollection::CActionCollection (  ) 

Constructor.

mrpt::slam::CActionCollection::CActionCollection ( CAction a  ) 

Constructor from a single action.

mrpt::slam::CActionCollection::CActionCollection ( const CActionCollection o  ) 

Copy Constructor.

mrpt::slam::CActionCollection::~CActionCollection (  ) 

Destructor.


Member Function Documentation

iterator mrpt::slam::CActionCollection::begin (  )  [inline]

Returns a iterator to the first action: this is an example of usage:.

   CActionCollection  acts;
   ...
   for (CActionCollection::iterator it=acts.begin();it!=acts.end();it++)
          {
      (*it)->... // (*it) is a "CActionPtr"
   }

Definition at line 110 of file CActionCollection.h.

const_iterator mrpt::slam::CActionCollection::begin (  )  const [inline]

Returns a iterator to the first action: this is an example of usage:.

   CActionCollection  acts;
   ...
   for (CActionCollection::iterator it=acts.begin();it!=acts.end();it++)
          {
      (*it)->... // (*it) is a "CActionPtr"
   }

Definition at line 97 of file CActionCollection.h.

void mrpt::slam::CActionCollection::clear (  ) 

Erase all actions from the list.

iterator mrpt::slam::CActionCollection::end (  )  [inline]

Returns a iterator pointing to the end of the list: this is an example of usage:.

   CActionCollection  acts;
   ...
   for (CActionCollection::iterator it=acts.begin();it!=acts.end();it++)
          {
      (*it)->... // (*it) is a "CActionPtr"
   }

Definition at line 136 of file CActionCollection.h.

const_iterator mrpt::slam::CActionCollection::end (  )  const [inline]

Returns a iterator pointing to the end of the list: this is an example of usage:.

   CActionCollection  acts;
   ...
   for (CActionCollection::iterator it=acts.begin();it!=acts.end();it++)
          {
      (*it)->... // (*it) is a "CActionPtr"
   }

Definition at line 123 of file CActionCollection.h.

iterator mrpt::slam::CActionCollection::erase ( const iterator it  ) 

Removes the given action in the list, and return an iterator to the next element (or this->end() if it was the last one).

void mrpt::slam::CActionCollection::eraseByIndex ( const size_t &  index  ) 

Remove an action from the list by its index.

Exceptions:
std::exception On index out of bounds.

CActionPtr mrpt::slam::CActionCollection::get ( size_t  index  ) 

Access the i'th action.DO NOT MODIFY the returned object, make a copy of ir with "CSerializable::duplicate" if desired.

First element is 0.

Exceptions:
std::exception On index out of bounds.

template<typename T >
T::SmartPtr mrpt::slam::CActionCollection::getActionByClass ( const size_t &  ith = 0  )  const [inline]

Access to the i'th action of a given class, or a NULL smart pointer if there is no action of that class in the list.

Example:

                                        CActionRobotMovement2DPtr obs = acts->getActionByClass<CActionRobotMovement2D>();
By default (ith=0), the first one is returned.

Definition at line 161 of file CActionCollection.h.

References MRPT_TRY_END, and MRPT_TRY_START.

CActionRobotMovement2DPtr mrpt::slam::CActionCollection::getBestMovementEstimation (  )  const

Returns the best pose increment estimator in the collection, based on the determinant of its pose change covariance matrix.

Returns:
The estimation, or NULL if none is available.

CActionRobotMovement2DPtr mrpt::slam::CActionCollection::getMovementEstimationByType ( CActionRobotMovement2D::TEstimationMethod  method  ) 

Returns the pose increment estimator in the collection having the specified type.

Returns:
The estimation, or NULL if none is available.

void mrpt::slam::CActionCollection::insert ( CAction action  ) 

Add a new object to the list.

CActionCollection& mrpt::slam::CActionCollection::operator= ( const CActionCollection o  ) 

Copy operator.

size_t mrpt::slam::CActionCollection::size (  ) 

Returns the actions count in the collection.


Member Data Documentation

std::deque<CActionPtr> mrpt::slam::CActionCollection::m_actions [protected]

The actions:.

Definition at line 55 of file CActionCollection.h.




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