A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationSystem class.
- See also
- CReactiveNavigationSystem, CHolonomicLogFileRecord
Definition at line 33 of file CLogFileRecord.h.
#include <mrpt/nav/reactive/CLogFileRecord.h>
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struct | TInfoPerPTG |
| The structure used to store all relevant information about each transformation into TP-Space. More...
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mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState | navDynState |
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uint32_t | nPTGs |
| The number of PTGS: More...
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mrpt::aligned_containers< TInfoPerPTG >::vector_t | infoPerPTG |
| The info for each applied PTG: must contain "nPTGs * nSecDistances" elements. More...
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int32_t | nSelectedPTG |
| The selected PTG. More...
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std::map< std::string, double > | values |
| Known values: More...
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std::map< std::string, mrpt::system::TTimeStamp > | timestamps |
| Known values: More...
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std::map< std::string, std::string > | additional_debug_msgs |
| Additional debug traces. More...
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mrpt::maps::CSimplePointsMap | WS_Obstacles |
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mrpt::maps::CSimplePointsMap | WS_Obstacles_original |
| The WS-Obstacles. More...
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mrpt::math::TPose2D | robotPoseLocalization |
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mrpt::math::TPose2D | robotPoseOdometry |
| The robot pose (from odometry and from the localization/SLAM system). More...
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mrpt::math::TPose2D | relPoseSense |
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mrpt::math::TPose2D | relPoseVelCmd |
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std::vector< mrpt::math::TPose2D > | WS_targets_relative |
| Relative poses (wrt to robotPoseLocalization) for extrapolated paths at two instants: time of obstacle sense, and future pose of motion comman. More...
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mrpt::kinematics::CVehicleVelCmdPtr | cmd_vel |
| The final motion command sent to robot, in "m/sec" and "rad/sec". More...
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mrpt::kinematics::CVehicleVelCmdPtr | cmd_vel_original |
| Motion command as comes out from the PTG, before scaling speed limit filtering. More...
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mrpt::math::TTwist2D | cur_vel |
| The actual robot velocities in global (map) coordinates, as read from sensors, in "m/sec" and "rad/sec". More...
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mrpt::math::TTwist2D | cur_vel_local |
| The actual robot velocities in local (robot) coordinates, as read from sensors, in "m/sec" and "rad/sec". More...
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mrpt::math::CVectorFloat | robotShape_x |
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mrpt::math::CVectorFloat | robotShape_y |
| The robot shape in WS. Used by PTGs derived from mrpt::nav::CPTG_RobotShape_Polygonal. More...
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double | robotShape_radius |
| The circular robot radius. Used by PTGs derived from mrpt::nav::CPTG_RobotShape_Circular. More...
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int16_t | ptg_index_NOP |
| Negative means no NOP mode evaluation, so the rest of "NOP variables" should be ignored. More...
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uint16_t | ptg_last_k_NOP |
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mrpt::math::TPose2D | rel_cur_pose_wrt_last_vel_cmd_NOP |
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mrpt::math::TPose2D | rel_pose_PTG_origin_wrt_sense_NOP |
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mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState | ptg_last_navDynState |
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void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const |
| Introduces a pure virtual method responsible for writing to a CStream. More...
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void | readFromStream (mrpt::utils::CStream &in, int version) |
| Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...
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◆ SmartPtr
A typedef for the associated smart pointer
Definition at line 35 of file CLogFileRecord.h.
◆ CLogFileRecord()
mrpt::nav::CLogFileRecord::CLogFileRecord |
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Constructor, builds an empty record.
◆ _GetBaseClass()
◆ clone()
CObject* mrpt::utils::CObject::clone |
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const |
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inlineinherited |
Cloning interface for smart pointers.
Definition at line 143 of file CObject.h.
◆ Create()
static CLogFileRecordPtr mrpt::nav::CLogFileRecord::Create |
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◆ CreateObject()
◆ duplicate()
◆ duplicateGetSmartPtr()
Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).
Definition at line 140 of file CObject.h.
◆ GetRuntimeClass()
◆ operator delete() [1/3]
void mrpt::nav::CLogFileRecord::operator delete |
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ptr | ) |
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throw | ( | |
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inline |
◆ operator delete() [2/3]
void mrpt::nav::CLogFileRecord::operator delete |
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memory, |
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void * |
ptr |
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throw | ( | |
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inline |
◆ operator delete() [3/3]
void mrpt::nav::CLogFileRecord::operator delete |
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void * |
ptr, |
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const std::nothrow_t & |
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throw | ( | |
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inline |
◆ operator delete[]()
void mrpt::nav::CLogFileRecord::operator delete[] |
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void * |
ptr | ) |
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throw | ( | |
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inline |
◆ operator new() [1/3]
void* mrpt::nav::CLogFileRecord::operator new |
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size_t |
size | ) |
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inline |
◆ operator new() [2/3]
static void* mrpt::nav::CLogFileRecord::operator new |
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size_t |
size, |
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void * |
ptr |
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inlinestatic |
◆ operator new() [3/3]
void* mrpt::nav::CLogFileRecord::operator new |
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size_t |
size, |
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const std::nothrow_t & |
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throw | ( | |
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inline |
◆ operator new[]()
void* mrpt::nav::CLogFileRecord::operator new[] |
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size_t |
size | ) |
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inline |
◆ readFromStream()
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
- Parameters
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in | The input binary stream where the object data must read from. |
version | The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. |
- Exceptions
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std::exception | On any error, see CStream::ReadBuffer |
- See also
- CStream
Implements mrpt::utils::CSerializable.
◆ writeToMatlab()
virtual mxArray* mrpt::utils::CSerializable::writeToMatlab |
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const |
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inlinevirtualinherited |
◆ writeToStream()
void mrpt::nav::CLogFileRecord::writeToStream |
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mrpt::utils::CStream & |
out, |
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int * |
getVersion |
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protectedvirtual |
Introduces a pure virtual method responsible for writing to a CStream.
This can not be used directly be users, instead use "stream << object;" for writing it to a stream.
- Parameters
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out | The output binary stream where object must be dumped. |
getVersion | If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. |
- Exceptions
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std::exception | On any error, see CStream::WriteBuffer |
- See also
- CStream
Implements mrpt::utils::CSerializable.
◆ _init_CLogFileRecord
◆ additional_debug_msgs
std::map<std::string, std::string> mrpt::nav::CLogFileRecord::additional_debug_msgs |
◆ classCLogFileRecord
◆ classCObject
◆ classCSerializable
◆ classinfo
◆ cmd_vel
mrpt::kinematics::CVehicleVelCmdPtr mrpt::nav::CLogFileRecord::cmd_vel |
The final motion command sent to robot, in "m/sec" and "rad/sec".
Definition at line 80 of file CLogFileRecord.h.
◆ cmd_vel_original
mrpt::kinematics::CVehicleVelCmdPtr mrpt::nav::CLogFileRecord::cmd_vel_original |
Motion command as comes out from the PTG, before scaling speed limit filtering.
Definition at line 81 of file CLogFileRecord.h.
◆ cur_vel
The actual robot velocities in global (map) coordinates, as read from sensors, in "m/sec" and "rad/sec".
Definition at line 82 of file CLogFileRecord.h.
◆ cur_vel_local
The actual robot velocities in local (robot) coordinates, as read from sensors, in "m/sec" and "rad/sec".
Definition at line 83 of file CLogFileRecord.h.
◆ infoPerPTG
The info for each applied PTG: must contain "nPTGs * nSecDistances" elements.
Definition at line 60 of file CLogFileRecord.h.
◆ navDynState
◆ nPTGs
uint32_t mrpt::nav::CLogFileRecord::nPTGs |
◆ nSelectedPTG
int32_t mrpt::nav::CLogFileRecord::nSelectedPTG |
◆ ptg_index_NOP
int16_t mrpt::nav::CLogFileRecord::ptg_index_NOP |
Negative means no NOP mode evaluation, so the rest of "NOP variables" should be ignored.
Definition at line 89 of file CLogFileRecord.h.
◆ ptg_last_k_NOP
uint16_t mrpt::nav::CLogFileRecord::ptg_last_k_NOP |
◆ ptg_last_navDynState
◆ rel_cur_pose_wrt_last_vel_cmd_NOP
◆ rel_pose_PTG_origin_wrt_sense_NOP
◆ relPoseSense
◆ relPoseVelCmd
◆ robotPoseLocalization
◆ robotPoseOdometry
The robot pose (from odometry and from the localization/SLAM system).
Definition at line 76 of file CLogFileRecord.h.
◆ robotShape_radius
double mrpt::nav::CLogFileRecord::robotShape_radius |
◆ robotShape_x
◆ robotShape_y
◆ timestamps
Known values:
- "tim_start_iteration": Time of start of navigationStep() implementation.
- "tim_send_cmd_vel": Time of sending cmdvel to robot.
- "curPoseAndVel": Time of querying robot pose and velocities.
Definition at line 73 of file CLogFileRecord.h.
◆ values
std::map<std::string, double> mrpt::nav::CLogFileRecord::values |
Known values:
- "executionTime": The total computation time, excluding sensing.
- "estimatedExecutionPeriod": The estimated execution period.
Definition at line 67 of file CLogFileRecord.h.
◆ WS_Obstacles
◆ WS_Obstacles_original
◆ WS_targets_relative
Relative poses (wrt to robotPoseLocalization) for extrapolated paths at two instants: time of obstacle sense, and future pose of motion comman.
The relative location of target(s) in Workspace.
Definition at line 78 of file CLogFileRecord.h.