Represents a probabilistic 2D movement of the robot mobile base.
See the tutorial on probabilistic motion models.
Definition at line 52 of file CActionRobotMovement2D.h.
#include <mrpt/slam/CActionRobotMovement2D.h>
Classes | |
struct | TMotionModelOptions |
The parameter to be passed to "computeFromOdometry". More... | |
Public Types | |
enum | TEstimationMethod { emOdometry = 0, emScan2DMatching } |
A list of posible ways for estimating the content of a CActionRobotMovement2D object. More... | |
enum | TDrawSampleMotionModel { mmGaussian = 0, mmThrun } |
Public Member Functions | |
CActionRobotMovement2D () | |
Constructor. | |
CActionRobotMovement2D (const CActionRobotMovement2D &o) | |
Copy constructor. | |
CActionRobotMovement2D & | operator= (const CActionRobotMovement2D &o) |
Copy operator. | |
~CActionRobotMovement2D () | |
Destructor. | |
void | computeFromOdometry (const CPose2D &odometryIncrement, const TMotionModelOptions &options) |
Computes the PDF of the pose increment from an odometry reading and according to the given motion model (speed and encoder ticks information is not modified). | |
void | computeFromEncoders (double K_left, double K_right, double D) |
If "hasEncodersInfo"=true, this method updates the pose estimation according to the ticks from both encoders and the passed parameters, which is passed internally to the method "computeFromOdometry" with the last used PDF options (or the defualt ones if not explicitly called by the user). | |
void | drawSingleSample (CPose2D &outSample) const |
Using this method instead of "poseChange->drawSingleSample()" may be more efficient in most situations. | |
void | prepareFastDrawSingleSamples () const |
Call this before calling a high number of times "fastDrawSingleSample", which is much faster than "drawSingleSample". | |
void | fastDrawSingleSample (CPose2D &outSample) const |
Faster version than "drawSingleSample", but requires a previous call to "prepareFastDrawSingleSamples". | |
Public Attributes | |
CPosePDFPtr | poseChange |
The 2D pose change probabilistic estimation. | |
CPose2D | rawOdometryIncrementReading |
This is the raw odometry reading, and only is used when "estimationMethod" is "TEstimationMethod::emOdometry". | |
TEstimationMethod | estimationMethod |
This fields indicates the way this estimation was obtained. | |
bool | hasEncodersInfo |
If "true" means that "encoderLeftTicks" and "encoderRightTicks" contain valid values. | |
int32_t | encoderLeftTicks |
For odometry only: the ticks count for each wheel FROM the last reading (positive means FORWARD, for both wheels);. | |
int32_t | encoderRightTicks |
bool | hasVelocities |
If "true" means that "velocityLin" and "velocityAng" contain valid values. | |
float | velocityLin |
The velocity of the robot, linear in meters/sec and angular in rad/sec. | |
float | velocityAng |
struct OBS_IMPEXP mrpt::slam::CActionRobotMovement2D::TMotionModelOptions | motionModelConfiguration |
Protected Member Functions | |
void | computeFromOdometry_modelGaussian (const CPose2D &odometryIncrement, const TMotionModelOptions &o) |
Computes the PDF of the pose increment from an odometry reading, using a Gaussian approximation as the motion model. | |
void | computeFromOdometry_modelThrun (const CPose2D &odometryIncrement, const TMotionModelOptions &o) |
Computes the PDF of the pose increment from an odometry reading, using the motion model from Thrun's book. | |
void | drawSingleSample_modelGaussian (CPose2D &outSample) const |
The sample generator for the model "computeFromOdometry_modelGaussian", internally called when the user invokes "drawSingleSample". | |
void | drawSingleSample_modelThrun (CPose2D &outSample) const |
The sample generator for the model "computeFromOdometry_modelThrun", internally called when the user invokes "drawSingleSample". | |
void | prepareFastDrawSingleSample_modelGaussian () const |
Internal use. | |
void | prepareFastDrawSingleSample_modelThrun () const |
Internal use. | |
void | fastDrawSingleSample_modelGaussian (CPose2D &outSample) const |
Internal use. | |
void | fastDrawSingleSample_modelThrun (CPose2D &outSample) const |
Internal use. | |
Protected Attributes | |
CMatrixDouble33 | m_fastDrawGauss_Z |
Auxiliary matrix. | |
CPose2D | m_fastDrawGauss_M |
RTTI stuff | |
typedef CActionRobotMovement2DPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CActionRobotMovement2D |
static mrpt::utils::TRuntimeClassId | classCActionRobotMovement2D |
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 CActionRobotMovement2DPtr | Create () |
A typedef for the associated smart pointer
Definition at line 55 of file CActionRobotMovement2D.h.
Definition at line 111 of file CActionRobotMovement2D.h.
A list of posible ways for estimating the content of a CActionRobotMovement2D object.
Definition at line 60 of file CActionRobotMovement2D.h.
mrpt::slam::CActionRobotMovement2D::CActionRobotMovement2D | ( | ) |
Constructor.
mrpt::slam::CActionRobotMovement2D::CActionRobotMovement2D | ( | const CActionRobotMovement2D & | o ) |
Copy constructor.
mrpt::slam::CActionRobotMovement2D::~CActionRobotMovement2D | ( | ) |
Destructor.
static const mrpt::utils::TRuntimeClassId* mrpt::slam::CActionRobotMovement2D::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::slam::CAction.
void mrpt::slam::CActionRobotMovement2D::computeFromEncoders | ( | double | K_left, |
double | K_right, | ||
double | D | ||
) |
If "hasEncodersInfo"=true, this method updates the pose estimation according to the ticks from both encoders and the passed parameters, which is passed internally to the method "computeFromOdometry" with the last used PDF options (or the defualt ones if not explicitly called by the user).
K_left | The meters / tick ratio for the left encoder. |
K_right | The meters / tick ratio for the right encoder. |
D | The distance between both wheels, in meters. |
void mrpt::slam::CActionRobotMovement2D::computeFromOdometry | ( | const CPose2D & | odometryIncrement, |
const TMotionModelOptions & | options | ||
) |
Computes the PDF of the pose increment from an odometry reading and according to the given motion model (speed and encoder ticks information is not modified).
According to the parameters in the passed struct, it will be called one the private sampling functions (see "see also" next).
Referenced by mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_gatherActionsCheckBothActObs().
void mrpt::slam::CActionRobotMovement2D::computeFromOdometry_modelGaussian | ( | const CPose2D & | odometryIncrement, |
const TMotionModelOptions & | o | ||
) | [protected] |
Computes the PDF of the pose increment from an odometry reading, using a Gaussian approximation as the motion model.
void mrpt::slam::CActionRobotMovement2D::computeFromOdometry_modelThrun | ( | const CPose2D & | odometryIncrement, |
const TMotionModelOptions & | o | ||
) | [protected] |
Computes the PDF of the pose increment from an odometry reading, using the motion model from Thrun's book.
This model is discussed in "Probabilistic Robotics", Thrun, Burgard, and Fox, 2006, pp.136.
static CActionRobotMovement2DPtr mrpt::slam::CActionRobotMovement2D::Create | ( | ) | [static] |
static mrpt::utils::CObject* mrpt::slam::CActionRobotMovement2D::CreateObject | ( | ) | [static] |
void mrpt::slam::CActionRobotMovement2D::drawSingleSample | ( | CPose2D & | outSample ) | const |
Using this method instead of "poseChange->drawSingleSample()" may be more efficient in most situations.
void mrpt::slam::CActionRobotMovement2D::drawSingleSample_modelGaussian | ( | CPose2D & | outSample ) | const [protected] |
The sample generator for the model "computeFromOdometry_modelGaussian", internally called when the user invokes "drawSingleSample".
void mrpt::slam::CActionRobotMovement2D::drawSingleSample_modelThrun | ( | CPose2D & | outSample ) | const [protected] |
The sample generator for the model "computeFromOdometry_modelThrun", internally called when the user invokes "drawSingleSample".
virtual mrpt::utils::CObject* mrpt::slam::CActionRobotMovement2D::duplicate | ( | ) | const [virtual] |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
void mrpt::slam::CActionRobotMovement2D::fastDrawSingleSample | ( | CPose2D & | outSample ) | const |
Faster version than "drawSingleSample", but requires a previous call to "prepareFastDrawSingleSamples".
void mrpt::slam::CActionRobotMovement2D::fastDrawSingleSample_modelGaussian | ( | CPose2D & | outSample ) | const [protected] |
Internal use.
void mrpt::slam::CActionRobotMovement2D::fastDrawSingleSample_modelThrun | ( | CPose2D & | outSample ) | const [protected] |
Internal use.
virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CActionRobotMovement2D::GetRuntimeClass | ( | ) | const [virtual] |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::slam::CAction.
CActionRobotMovement2D& mrpt::slam::CActionRobotMovement2D::operator= | ( | const CActionRobotMovement2D & | o ) |
Copy operator.
void mrpt::slam::CActionRobotMovement2D::prepareFastDrawSingleSample_modelGaussian | ( | ) | const [protected] |
Internal use.
void mrpt::slam::CActionRobotMovement2D::prepareFastDrawSingleSample_modelThrun | ( | ) | const [protected] |
Internal use.
void mrpt::slam::CActionRobotMovement2D::prepareFastDrawSingleSamples | ( | ) | const |
Call this before calling a high number of times "fastDrawSingleSample", which is much faster than "drawSingleSample".
mrpt::utils::CLASSINIT mrpt::slam::CActionRobotMovement2D::_init_CActionRobotMovement2D [static, protected] |
Definition at line 55 of file CActionRobotMovement2D.h.
mrpt::utils::TRuntimeClassId mrpt::slam::CActionRobotMovement2D::classCActionRobotMovement2D [static] |
Definition at line 55 of file CActionRobotMovement2D.h.
Definition at line 55 of file CActionRobotMovement2D.h.
For odometry only: the ticks count for each wheel FROM the last reading (positive means FORWARD, for both wheels);.
Definition at line 101 of file CActionRobotMovement2D.h.
Definition at line 101 of file CActionRobotMovement2D.h.
This fields indicates the way this estimation was obtained.
Definition at line 92 of file CActionRobotMovement2D.h.
If "true" means that "encoderLeftTicks" and "encoderRightTicks" contain valid values.
Definition at line 96 of file CActionRobotMovement2D.h.
If "true" means that "velocityLin" and "velocityAng" contain valid values.
Definition at line 105 of file CActionRobotMovement2D.h.
CPose2D mrpt::slam::CActionRobotMovement2D::m_fastDrawGauss_M [mutable, protected] |
Definition at line 232 of file CActionRobotMovement2D.h.
CMatrixDouble33 mrpt::slam::CActionRobotMovement2D::m_fastDrawGauss_Z [mutable, protected] |
Auxiliary matrix.
Definition at line 231 of file CActionRobotMovement2D.h.
struct OBS_IMPEXP mrpt::slam::CActionRobotMovement2D::TMotionModelOptions mrpt::slam::CActionRobotMovement2D::motionModelConfiguration |
The 2D pose change probabilistic estimation.
Definition at line 84 of file CActionRobotMovement2D.h.
Referenced by mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_gatherActionsCheckBothActObs().
This is the raw odometry reading, and only is used when "estimationMethod" is "TEstimationMethod::emOdometry".
Definition at line 88 of file CActionRobotMovement2D.h.
Definition at line 109 of file CActionRobotMovement2D.h.
The velocity of the robot, linear in meters/sec and angular in rad/sec.
Definition at line 109 of file CActionRobotMovement2D.h.
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