mrpt::slam::CActionRobotMovement3D Class Reference

Represents a probabilistic 3D (6D) movement. More...

#include <mrpt/slam/CActionRobotMovement3D.h>

Inheritance diagram for mrpt::slam::CActionRobotMovement3D:

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Collaboration diagram for mrpt::slam::CActionRobotMovement3D:

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List of all members.

Public Types
enum	TEstimationMethod { emOdometry = 0, emVisualOdometry }
	A list of posible ways for estimating the content of a CActionRobotMovement3D object. More...
Public Member Functions
	CActionRobotMovement3D ()
	Constructor.
virtual	~CActionRobotMovement3D ()
	Destructor.
Public Attributes
poses::CPose3DPDFGaussian	poseChange
	The 3D pose change probabilistic estimation.
poses::CPose3DQuatPDFGaussian	poseChangeQuat
TEstimationMethod	estimationMethod
	This fields indicates the way this estimation was obtained.
vector_bool	hasVelocities
	Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries.
vector_float	velocities
	The velocity of the robot in each of 6D: v_x,v_y,v_z,v_yaw,v_pitch,v_roll (linear in meters/sec and angular in rad/sec).

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Detailed Description

Represents a probabilistic 3D (6D) movement.

Currently this can be determined from visual odometry for full 6D, or from wheel encoders for 2D movements only.

See also:

CAction

Definition at line 46 of file CActionRobotMovement3D.h.

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Member Enumeration Documentation

enum mrpt::slam::CActionRobotMovement3D::TEstimationMethod

A list of posible ways for estimating the content of a CActionRobotMovement3D object.

Enumerator:

emOdometry
emVisualOdometry

Definition at line 54 of file CActionRobotMovement3D.h.

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Constructor & Destructor Documentation

mrpt::slam::CActionRobotMovement3D::CActionRobotMovement3D

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Constructor.

virtual mrpt::slam::CActionRobotMovement3D::~CActionRobotMovement3D

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[virtual]

Destructor.

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Member Data Documentation

TEstimationMethod mrpt::slam::CActionRobotMovement3D::estimationMethod

This fields indicates the way this estimation was obtained.

Definition at line 76 of file CActionRobotMovement3D.h.

vector_bool mrpt::slam::CActionRobotMovement3D::hasVelocities

Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries.

Definition at line 80 of file CActionRobotMovement3D.h.

poses::CPose3DPDFGaussian mrpt::slam::CActionRobotMovement3D::poseChange

The 3D pose change probabilistic estimation.

Definition at line 70 of file CActionRobotMovement3D.h.

poses::CPose3DQuatPDFGaussian mrpt::slam::CActionRobotMovement3D::poseChangeQuat

Definition at line 71 of file CActionRobotMovement3D.h.

vector_float mrpt::slam::CActionRobotMovement3D::velocities

The velocity of the robot in each of 6D: v_x,v_y,v_z,v_yaw,v_pitch,v_roll (linear in meters/sec and angular in rad/sec).

Definition at line 84 of file CActionRobotMovement3D.h.