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.
Definition at line 48 of file CActionCollection.h.
#include <mrpt/slam/CActionCollection.h>
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. | |
CActionCollection & | operator= (const CActionCollection &o) |
Copy operator. | |
virtual | ~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. | |
bool | getFirstMovementEstimationMean (CPose3D &out_pose_increment) const |
Look for the first 2D or 3D "odometry" found in this collection of actions, and return the "mean" increment of the robot according to it. | |
bool | getFirstMovementEstimation (CPose3DPDFGaussian &out_pose_increment) const |
Look for the first 2D or 3D "odometry" found in this collection of actions, and return the "mean" increment of the robot and its covariance according to it. | |
void | eraseByIndex (const size_t &index) |
Remove an action from the list by its index. | |
Protected Attributes | |
std::deque< CActionPtr > | m_actions |
The actions: | |
RTTI stuff | |
| |
typedef CActionCollectionPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CActionCollection |
static mrpt::utils::TRuntimeClassId | classCActionCollection |
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 CActionCollectionPtr | Create () |
typedef std::deque<CActionPtr>::const_iterator mrpt::slam::CActionCollection::const_iterator |
You can use CActionCollection::begin to get a iterator to the first element.
Definition at line 85 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 81 of file CActionCollection.h.
A typedef for the associated smart pointer
Definition at line 51 of file CActionCollection.h.
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.
virtual mrpt::slam::CActionCollection::~CActionCollection | ( | ) | [virtual] |
Destructor.
static const mrpt::utils::TRuntimeClassId* mrpt::slam::CActionCollection::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::utils::CSerializable.
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 111 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 98 of file CActionCollection.h.
void mrpt::slam::CActionCollection::clear | ( | ) |
Erase all actions from the list.
static CActionCollectionPtr mrpt::slam::CActionCollection::Create | ( | ) | [static] |
static mrpt::utils::CObject* mrpt::slam::CActionCollection::CreateObject | ( | ) | [static] |
virtual mrpt::utils::CObject* mrpt::slam::CActionCollection::duplicate | ( | ) | const [virtual] |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
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 124 of file CActionCollection.h.
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 137 of file CActionCollection.h.
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.
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.
std::exception | On index out of bounds. |
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 162 of file CActionCollection.h.
References begin(), and end().
Referenced by mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_gatherActionsCheckBothActObs(), and mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_pfStandardProposal().
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.
Referenced by mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_gatherActionsCheckBothActObs(), and mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_pfStandardProposal().
bool mrpt::slam::CActionCollection::getFirstMovementEstimation | ( | CPose3DPDFGaussian & | out_pose_increment | ) | const |
Look for the first 2D or 3D "odometry" found in this collection of actions, and return the "mean" increment of the robot and its covariance according to it.
bool mrpt::slam::CActionCollection::getFirstMovementEstimationMean | ( | CPose3D & | out_pose_increment | ) | const |
Look for the first 2D or 3D "odometry" found in this collection of actions, and return the "mean" increment of the robot according to it.
CActionRobotMovement2DPtr mrpt::slam::CActionCollection::getMovementEstimationByType | ( | CActionRobotMovement2D::TEstimationMethod | method | ) |
Returns the pose increment estimator in the collection having the specified type.
virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CActionCollection::GetRuntimeClass | ( | ) | const [virtual] |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
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.
mrpt::utils::CLASSINIT mrpt::slam::CActionCollection::_init_CActionCollection [static, protected] |
Definition at line 51 of file CActionCollection.h.
Definition at line 51 of file CActionCollection.h.
const mrpt::utils::TRuntimeClassId* mrpt::slam::CActionCollection::classinfo [static] |
Definition at line 51 of file CActionCollection.h.
std::deque<CActionPtr> mrpt::slam::CActionCollection::m_actions [protected] |
The actions:
Definition at line 56 of file CActionCollection.h.
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