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mrpt::nav::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 33 of file CLogFileRecord.h.

#include <mrpt/nav/reactive/CLogFileRecord.h>

Inheritance diagram for mrpt::nav::CLogFileRecord:
Inheritance graph

Classes

struct  TInfoPerPTG
 The structure used to store all relevant information about each transformation into TP-Space. More...
 

Public Member Functions

void * operator new (size_t size)
 
void * operator new[] (size_t size)
 
void operator delete (void *ptr) throw ()
 
void operator delete[] (void *ptr) throw ()
 
void operator delete (void *memory, void *ptr) throw ()
 
void * operator new (size_t size, const std::nothrow_t &) throw ()
 
void operator delete (void *ptr, const std::nothrow_t &) throw ()
 
 CLogFileRecord ()
 Constructor, builds an empty record. More...
 
virtual mxArraywriteToMatlab () const
 Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
 
mrpt::utils::CObjectPtr duplicateGetSmartPtr () const
 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). More...
 
CObject * clone () const
 Cloning interface for smart pointers. More...
 

Static Public Member Functions

static void * operator new (size_t size, void *ptr)
 

Public Attributes

mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState navDynState
 
uint32_t nPTGs
 The number of PTGS: More...
 
mrpt::aligned_containers< TInfoPerPTG >::vector_t infoPerPTG
 The info for each applied PTG: must contain "nPTGs * nSecDistances" elements. More...
 
int32_t nSelectedPTG
 The selected PTG. More...
 
std::map< std::string, double > values
 Known values: More...
 
std::map< std::string, mrpt::system::TTimeStamptimestamps
 Known values: More...
 
std::map< std::string, std::string > additional_debug_msgs
 Additional debug traces. More...
 
mrpt::maps::CSimplePointsMap WS_Obstacles
 
mrpt::maps::CSimplePointsMap WS_Obstacles_original
 The WS-Obstacles. More...
 
mrpt::math::TPose2D robotPoseLocalization
 
mrpt::math::TPose2D robotPoseOdometry
 The robot pose (from odometry and from the localization/SLAM system). More...
 
mrpt::math::TPose2D relPoseSense
 
mrpt::math::TPose2D relPoseVelCmd
 
std::vector< mrpt::math::TPose2DWS_targets_relative
 Relative poses (wrt to robotPoseLocalization) for extrapolated paths at two instants: time of obstacle sense, and future pose of motion comman. More...
 
mrpt::kinematics::CVehicleVelCmdPtr cmd_vel
 The final motion command sent to robot, in "m/sec" and "rad/sec". More...
 
mrpt::kinematics::CVehicleVelCmdPtr cmd_vel_original
 Motion command as comes out from the PTG, before scaling speed limit filtering. More...
 
mrpt::math::TTwist2D cur_vel
 The actual robot velocities in global (map) coordinates, as read from sensors, in "m/sec" and "rad/sec". More...
 
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...
 
mrpt::math::CVectorFloat robotShape_x
 
mrpt::math::CVectorFloat robotShape_y
 The robot shape in WS. Used by PTGs derived from mrpt::nav::CPTG_RobotShape_Polygonal. More...
 
double robotShape_radius
 The circular robot radius. Used by PTGs derived from mrpt::nav::CPTG_RobotShape_Circular. More...
 
int16_t ptg_index_NOP
 Negative means no NOP mode evaluation, so the rest of "NOP variables" should be ignored. More...
 
uint16_t ptg_last_k_NOP
 
mrpt::math::TPose2D rel_cur_pose_wrt_last_vel_cmd_NOP
 
mrpt::math::TPose2D rel_pose_PTG_origin_wrt_sense_NOP
 
mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState ptg_last_navDynState
 

Static Public Attributes

static const mrpt::utils::TRuntimeClassId classCObject
 
RTTI stuff
static const mrpt::utils::TRuntimeClassId classCSerializable
 

Protected Member Functions

CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
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...
 

RTTI stuff

typedef CLogFileRecordPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CLogFileRecord
 
static mrpt::utils::TRuntimeClassId classCLogFileRecord
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CLogFileRecordPtr Create ()
 

Member Typedef Documentation

◆ SmartPtr

typedef CLogFileRecordPtr mrpt::nav::CLogFileRecord::SmartPtr

A typedef for the associated smart pointer

Definition at line 35 of file CLogFileRecord.h.

Constructor & Destructor Documentation

◆ CLogFileRecord()

mrpt::nav::CLogFileRecord::CLogFileRecord ( )

Constructor, builds an empty record.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::nav::CLogFileRecord::_GetBaseClass ( )
staticprotected

◆ clone()

CObject* mrpt::utils::CObject::clone ( ) const
inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

◆ Create()

static CLogFileRecordPtr mrpt::nav::CLogFileRecord::Create ( )
static

◆ CreateObject()

static mrpt::utils::CObject* mrpt::nav::CLogFileRecord::CreateObject ( )
static

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::nav::CLogFileRecord::duplicate ( ) const
virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const
inlineinherited

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()

virtual const mrpt::utils::TRuntimeClassId* mrpt::nav::CLogFileRecord::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ operator delete() [1/3]

void mrpt::nav::CLogFileRecord::operator delete ( void *  ptr)
throw (
)
inline

Definition at line 35 of file CLogFileRecord.h.

◆ operator delete() [2/3]

void mrpt::nav::CLogFileRecord::operator delete ( void *  memory,
void *  ptr 
)
throw (
)
inline

Definition at line 35 of file CLogFileRecord.h.

◆ operator delete() [3/3]

void mrpt::nav::CLogFileRecord::operator delete ( void *  ptr,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 35 of file CLogFileRecord.h.

◆ operator delete[]()

void mrpt::nav::CLogFileRecord::operator delete[] ( void *  ptr)
throw (
)
inline

Definition at line 35 of file CLogFileRecord.h.

◆ operator new() [1/3]

void* mrpt::nav::CLogFileRecord::operator new ( size_t  size)
inline

Definition at line 35 of file CLogFileRecord.h.

◆ operator new() [2/3]

static void* mrpt::nav::CLogFileRecord::operator new ( size_t  size,
void *  ptr 
)
inlinestatic

Definition at line 35 of file CLogFileRecord.h.

◆ operator new() [3/3]

void* mrpt::nav::CLogFileRecord::operator new ( size_t  size,
const std::nothrow_t &   
)
throw (
)
inline

Definition at line 35 of file CLogFileRecord.h.

◆ operator new[]()

void* mrpt::nav::CLogFileRecord::operator new[] ( size_t  size)
inline

Definition at line 35 of file CLogFileRecord.h.

◆ readFromStream()

void mrpt::nav::CLogFileRecord::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

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
inThe input binary stream where the object data must read from.
versionThe version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
Exceptions
std::exceptionOn any error, see CStream::ReadBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const
inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns
A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

References BASE_IMPEXP, DEFINE_MRPT_OBJECT_POST, mrpt::utils::ObjectToOctetVector(), mrpt::utils::ObjectToRawString(), mrpt::utils::ObjectToString(), mrpt::utils::OctetVectorToObject(), mrpt::utils::RawStringToObject(), and mrpt::utils::StringToObject().

◆ writeToStream()

void mrpt::nav::CLogFileRecord::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
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
outThe output binary stream where object must be dumped.
getVersionIf 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
std::exceptionOn any error, see CStream::WriteBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Member Data Documentation

◆ _init_CLogFileRecord

mrpt::utils::CLASSINIT mrpt::nav::CLogFileRecord::_init_CLogFileRecord
staticprotected

Definition at line 35 of file CLogFileRecord.h.

◆ additional_debug_msgs

std::map<std::string, std::string> mrpt::nav::CLogFileRecord::additional_debug_msgs

Additional debug traces.

Definition at line 74 of file CLogFileRecord.h.

◆ classCLogFileRecord

mrpt::utils::TRuntimeClassId mrpt::nav::CLogFileRecord::classCLogFileRecord
static

Definition at line 35 of file CLogFileRecord.h.

◆ classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject
staticinherited

Definition at line 128 of file CObject.h.

◆ classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable
staticinherited

Definition at line 42 of file CSerializable.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::nav::CLogFileRecord::classinfo
static

Definition at line 35 of file CLogFileRecord.h.

◆ 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

mrpt::math::TTwist2D mrpt::nav::CLogFileRecord::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

mrpt::math::TTwist2D mrpt::nav::CLogFileRecord::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

mrpt::aligned_containers<TInfoPerPTG>::vector_t mrpt::nav::CLogFileRecord::infoPerPTG

The info for each applied PTG: must contain "nPTGs * nSecDistances" elements.

Definition at line 60 of file CLogFileRecord.h.

◆ navDynState

Definition at line 58 of file CLogFileRecord.h.

◆ nPTGs

uint32_t mrpt::nav::CLogFileRecord::nPTGs

The number of PTGS:

Definition at line 59 of file CLogFileRecord.h.

◆ nSelectedPTG

int32_t mrpt::nav::CLogFileRecord::nSelectedPTG

The selected PTG.

Definition at line 61 of file CLogFileRecord.h.

◆ 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

Definition at line 90 of file CLogFileRecord.h.

◆ ptg_last_navDynState

mrpt::nav::CParameterizedTrajectoryGenerator::TNavDynamicState mrpt::nav::CLogFileRecord::ptg_last_navDynState

Definition at line 92 of file CLogFileRecord.h.

◆ rel_cur_pose_wrt_last_vel_cmd_NOP

mrpt::math::TPose2D mrpt::nav::CLogFileRecord::rel_cur_pose_wrt_last_vel_cmd_NOP

Definition at line 91 of file CLogFileRecord.h.

◆ rel_pose_PTG_origin_wrt_sense_NOP

mrpt::math::TPose2D mrpt::nav::CLogFileRecord::rel_pose_PTG_origin_wrt_sense_NOP

Definition at line 91 of file CLogFileRecord.h.

◆ relPoseSense

mrpt::math::TPose2D mrpt::nav::CLogFileRecord::relPoseSense

Definition at line 77 of file CLogFileRecord.h.

◆ relPoseVelCmd

mrpt::math::TPose2D mrpt::nav::CLogFileRecord::relPoseVelCmd

Definition at line 77 of file CLogFileRecord.h.

◆ robotPoseLocalization

mrpt::math::TPose2D mrpt::nav::CLogFileRecord::robotPoseLocalization

Definition at line 76 of file CLogFileRecord.h.

◆ robotPoseOdometry

mrpt::math::TPose2D mrpt::nav::CLogFileRecord::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

The circular robot radius. Used by PTGs derived from mrpt::nav::CPTG_RobotShape_Circular.

Definition at line 86 of file CLogFileRecord.h.

◆ robotShape_x

mrpt::math::CVectorFloat mrpt::nav::CLogFileRecord::robotShape_x

Definition at line 85 of file CLogFileRecord.h.

◆ robotShape_y

mrpt::math::CVectorFloat mrpt::nav::CLogFileRecord::robotShape_y

The robot shape in WS. Used by PTGs derived from mrpt::nav::CPTG_RobotShape_Polygonal.

Definition at line 85 of file CLogFileRecord.h.

◆ timestamps

std::map<std::string, mrpt::system::TTimeStamp> mrpt::nav::CLogFileRecord::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

mrpt::maps::CSimplePointsMap mrpt::nav::CLogFileRecord::WS_Obstacles

Definition at line 75 of file CLogFileRecord.h.

◆ WS_Obstacles_original

mrpt::maps::CSimplePointsMap mrpt::nav::CLogFileRecord::WS_Obstacles_original

The WS-Obstacles.

Definition at line 75 of file CLogFileRecord.h.

◆ WS_targets_relative

std::vector<mrpt::math::TPose2D> mrpt::nav::CLogFileRecord::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.




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