A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationSystem class.
Definition at line 49 of file CLogFileRecord.h.
#include <mrpt/reactivenav/CLogFileRecord.h>
Classes | |
struct | TInfoPerPTG |
The structure used to store all relevant information about each transformation into TP-Space. More... | |
Public Member Functions | |
CLogFileRecord () | |
Constructor, builds an empty record. | |
void | operator= (CLogFileRecord &) |
Copy . | |
virtual | ~CLogFileRecord () |
Destructor, free all objects. | |
Public Attributes | |
uint32_t | nPTGs |
The number of PTGS: | |
vector_float | securityDistances |
The security distances: | |
std::vector< TInfoPerPTG, Eigen::aligned_allocator < TInfoPerPTG > > | infoPerPTG |
The info for each applied PTG: must contain "nPTGs·nSecDistances" elements. | |
int32_t | nSelectedPTG |
The selected PTG. | |
float | executionTime |
The total computation time, excluding sensing. | |
float | estimatedExecutionPeriod |
The estimated execution period. | |
mrpt::slam::CSimplePointsMap | WS_Obstacles |
The WS-Obstacles. | |
mrpt::poses::CPose2D | robotOdometryPose |
The raw odometry measurement. | |
mrpt::poses::CPoint2D | WS_target_relative |
The relative location of target point in WS. | |
float | v |
The final motion command sent to robot, in "m/sec" and "rad/sec". | |
float | w |
float | actual_v |
The actual robot velocities, as read from sensors, in "m/sec" and "rad/sec". | |
float | actual_w |
vector_float | prevV |
Some recent values from previous iterations: | |
vector_float | prevW |
vector_float | prevSelPTG |
vector_float | robotShape_x |
The used robot shape in WS. | |
vector_float | robotShape_y |
int32_t | navigatorBehavior |
The navigator behavior. | |
mrpt::poses::CPoint2D | doorCrossing_P1 |
The segment of the door-crossing behaviors, when applicable, in relative coordinates. | |
mrpt::poses::CPoint2D | doorCrossing_P2 |
Private Member Functions | |
void | freeInfoPerPTGs () |
Free all objects in infoPerPTGs structures (used internally). | |
RTTI stuff | |
| |
typedef CLogFileRecordPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CLogFileRecord |
static mrpt::utils::TRuntimeClassId | classCLogFileRecord |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
Returns information about the class of an object in runtime. | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. | |
static mrpt::utils::CObject * | CreateObject () |
static CLogFileRecordPtr | Create () |
A typedef for the associated smart pointer
Definition at line 51 of file CLogFileRecord.h.
mrpt::reactivenav::CLogFileRecord::CLogFileRecord | ( | ) |
Constructor, builds an empty record.
virtual mrpt::reactivenav::CLogFileRecord::~CLogFileRecord | ( | ) | [virtual] |
Destructor, free all objects.
static const mrpt::utils::TRuntimeClassId* mrpt::reactivenav::CLogFileRecord::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::utils::CSerializable.
static CLogFileRecordPtr mrpt::reactivenav::CLogFileRecord::Create | ( | ) | [static] |
static mrpt::utils::CObject* mrpt::reactivenav::CLogFileRecord::CreateObject | ( | ) | [static] |
virtual mrpt::utils::CObject* mrpt::reactivenav::CLogFileRecord::duplicate | ( | ) | const [virtual] |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
void mrpt::reactivenav::CLogFileRecord::freeInfoPerPTGs | ( | ) | [private] |
Free all objects in infoPerPTGs structures (used internally).
virtual const mrpt::utils::TRuntimeClassId* mrpt::reactivenav::CLogFileRecord::GetRuntimeClass | ( | ) | const [virtual] |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
void mrpt::reactivenav::CLogFileRecord::operator= | ( | CLogFileRecord & | ) |
Copy .
mrpt::utils::CLASSINIT mrpt::reactivenav::CLogFileRecord::_init_CLogFileRecord [static, protected] |
Definition at line 51 of file CLogFileRecord.h.
The actual robot velocities, as read from sensors, in "m/sec" and "rad/sec".
Definition at line 143 of file CLogFileRecord.h.
Definition at line 143 of file CLogFileRecord.h.
Definition at line 51 of file CLogFileRecord.h.
Definition at line 51 of file CLogFileRecord.h.
The segment of the door-crossing behaviors, when applicable, in relative coordinates.
Definition at line 159 of file CLogFileRecord.h.
Definition at line 159 of file CLogFileRecord.h.
The estimated execution period.
Definition at line 123 of file CLogFileRecord.h.
The total computation time, excluding sensing.
Definition at line 119 of file CLogFileRecord.h.
std::vector<TInfoPerPTG, Eigen::aligned_allocator<TInfoPerPTG> > mrpt::reactivenav::CLogFileRecord::infoPerPTG |
The info for each applied PTG: must contain "nPTGs·nSecDistances" elements.
Definition at line 111 of file CLogFileRecord.h.
The navigator behavior.
Definition at line 155 of file CLogFileRecord.h.
The number of PTGS:
Definition at line 103 of file CLogFileRecord.h.
The selected PTG.
Definition at line 115 of file CLogFileRecord.h.
Definition at line 147 of file CLogFileRecord.h.
Some recent values from previous iterations:
Definition at line 147 of file CLogFileRecord.h.
Definition at line 147 of file CLogFileRecord.h.
The raw odometry measurement.
Definition at line 131 of file CLogFileRecord.h.
The used robot shape in WS.
Definition at line 151 of file CLogFileRecord.h.
Definition at line 151 of file CLogFileRecord.h.
The security distances:
Definition at line 107 of file CLogFileRecord.h.
The final motion command sent to robot, in "m/sec" and "rad/sec".
Definition at line 139 of file CLogFileRecord.h.
Definition at line 139 of file CLogFileRecord.h.
The WS-Obstacles.
Definition at line 127 of file CLogFileRecord.h.
The relative location of target point in WS.
Definition at line 135 of file CLogFileRecord.h.
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