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 00029 #ifndef CObservationOdometry_H 00030 #define CObservationOdometry_H 00031 00032 #include <mrpt/utils/CSerializable.h> 00033 #include <mrpt/slam/CObservation.h> 00034 #include <mrpt/poses/CPose2D.h> 00035 #include <mrpt/poses/CPose3D.h> 00036 00037 namespace mrpt 00038 { 00039 namespace slam 00040 { 00041 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CObservationOdometry, CObservation ) 00042 00043 /** An observation of the current (cumulative) odometry for a wheeled robot. 00044 * This kind of observation will only occur in a "observation-only" rawlog file, otherwise 00045 * odometry are modeled with actions. Refer to the <a href="http://babel.isa.uma.es/mrpt/index.php/Rawlog_Format">page on rawlogs</a>. 00046 * 00047 * \sa CObservation, CActionRobotMovement2D 00048 */ 00049 class MRPTDLLIMPEXP CObservationOdometry : public CObservation 00050 { 00051 // This must be added to any CSerializable derived class: 00052 DEFINE_SERIALIZABLE( CObservationOdometry ) 00053 00054 public: 00055 /** Constructor 00056 */ 00057 CObservationOdometry( ); 00058 00059 poses::CPose2D odometry; //!< The absolute odometry measurement (IT IS NOT INCREMENTAL) 00060 00061 bool hasEncodersInfo; //!< "true" means that "encoderLeftTicks" and "encoderRightTicks" contain valid values. 00062 00063 /** For odometry only: the ticks count for each wheel in ABSOLUTE VALUE (IT IS NOT INCREMENTAL) (positive means FORWARD, for both wheels); 00064 * \sa hasEncodersInfo 00065 */ 00066 int32_t encoderLeftTicks,encoderRightTicks; 00067 00068 bool hasVelocities; //!< "true" means that "velocityLin" and "velocityAng" contain valid values. 00069 00070 /** The velocity of the robot, linear in meters/sec and angular in rad/sec. 00071 */ 00072 float velocityLin, velocityAng; 00073 00074 00075 00076 /** Does nothing in this class. 00077 */ 00078 float likelihoodWith( const CObservation *anotherObs, const CPosePDF *anotherObsPose = NULL ) const; 00079 00080 /** A general method to retrieve the sensor pose on the robot. 00081 * It has no effects in this class 00082 * \sa setSensorPose 00083 */ 00084 void getSensorPose( CPose3D &out_sensorPose ) const { out_sensorPose=CPose3D(0,0,0); } 00085 00086 /** A general method to change the sensor pose on the robot. 00087 * It has no effects in this class 00088 * \sa getSensorPose 00089 */ 00090 void setSensorPose( const CPose3D & ) { } 00091 00092 }; // End of class def. 00093 00094 } // End of namespace 00095 } // End of namespace 00096 00097 #endif
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