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mrpt::slam::CActionRobotMovement3D Class Reference

Represents a probabilistic 3D (6D) movement. More...

#include <mrpt/slam/CActionRobotMovement3D.h>

Inheritance diagram for mrpt::slam::CActionRobotMovement3D:

mrpt::slam::CAction mrpt::utils::CSerializable

List of all members.

Public Types

enum  TEstimationMethod { emOdometry = 0, emVisualOdometry }
 A list of posible ways for estimating the content of a CActionRobotMovement3D object. More...

Public Member Functions

 CActionRobotMovement3D ()
 Constructor.
virtual ~CActionRobotMovement3D ()
 Destructor.

Public Attributes

poses::CPose3DPDFGaussian poseChange
 The 3D pose change probabilistic estimation.
TEstimationMethod estimationMethod
 This fields indicates the way this estimation was obtained.
vector_bool hasVelocities
 Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries.
vector_float velocities
 The velocity of the robot in each of 6D: v_x,v_y,v_z,v_yaw,v_pitch,v_roll (linear in meters/sec and angular in rad/sec).


Detailed Description

Represents a probabilistic 3D (6D) movement.

Currently this can be determined from visual odometry for full 6D, or from wheel encoders for 2D movements only.

See also:
CAction

Definition at line 44 of file CActionRobotMovement3D.h.


Member Enumeration Documentation

A list of posible ways for estimating the content of a CActionRobotMovement3D object.

Enumerator:
emOdometry 
emVisualOdometry 

Definition at line 52 of file CActionRobotMovement3D.h.


Constructor & Destructor Documentation

mrpt::slam::CActionRobotMovement3D::CActionRobotMovement3D (  ) 

Constructor.

virtual mrpt::slam::CActionRobotMovement3D::~CActionRobotMovement3D (  )  [virtual]

Destructor.


Member Data Documentation

This fields indicates the way this estimation was obtained.

Definition at line 72 of file CActionRobotMovement3D.h.

Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries.

Definition at line 76 of file CActionRobotMovement3D.h.

The 3D pose change probabilistic estimation.

Definition at line 68 of file CActionRobotMovement3D.h.

The velocity of the robot in each of 6D: v_x,v_y,v_z,v_yaw,v_pitch,v_roll (linear in meters/sec and angular in rad/sec).

Definition at line 80 of file CActionRobotMovement3D.h.




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