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mrpt::reactivenav::CLogFileRecord Class Reference


Detailed Description

A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationSystem class.

See also:
CReactiveNavigationSystem, CHolonomicLogFileRecord

Definition at line 49 of file CLogFileRecord.h.

#include <mrpt/reactivenav/CLogFileRecord.h>

Inheritance diagram for mrpt::reactivenav::CLogFileRecord:
Inheritance graph
[legend]

List of all members.

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::CObjectduplicate () const
 Returns a copy of the object, indepently of its class.
static mrpt::utils::CObjectCreateObject ()
static CLogFileRecordPtr Create ()

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 51 of file CLogFileRecord.h.


Constructor & Destructor Documentation

mrpt::reactivenav::CLogFileRecord::CLogFileRecord (  )

Constructor, builds an empty record.

virtual mrpt::reactivenav::CLogFileRecord::~CLogFileRecord (  ) [virtual]

Destructor, free all objects.


Member Function Documentation

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 .


Member Data Documentation

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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