00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CActionRobotMovement3D_H 00029 #define CActionRobotMovement3D_H 00030 00031 #include <mrpt/slam/CAction.h> 00032 #include <mrpt/poses/CPose3DPDFGaussian.h> 00033 00034 namespace mrpt 00035 { 00036 namespace slam 00037 { 00038 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CActionRobotMovement3D, CAction ) 00039 /** Represents a probabilistic 3D (6D) movement. 00040 * Currently this can be determined from visual odometry for full 6D, or from wheel encoders for 2D movements only. 00041 * 00042 * \sa CAction 00043 */ 00044 class MRPTDLLIMPEXP CActionRobotMovement3D : public CAction 00045 { 00046 // This must be added to any CSerializable derived class: 00047 DEFINE_SERIALIZABLE( CActionRobotMovement3D ) 00048 00049 public: 00050 /** A list of posible ways for estimating the content of a CActionRobotMovement3D object. 00051 */ 00052 enum TEstimationMethod 00053 { 00054 emOdometry = 0, 00055 emVisualOdometry 00056 }; 00057 00058 /** Constructor 00059 */ 00060 CActionRobotMovement3D(); 00061 00062 /** Destructor 00063 */ 00064 virtual ~CActionRobotMovement3D(); 00065 00066 /** The 3D pose change probabilistic estimation. 00067 */ 00068 poses::CPose3DPDFGaussian poseChange; 00069 00070 /** This fields indicates the way this estimation was obtained. 00071 */ 00072 TEstimationMethod estimationMethod; 00073 00074 /** Each "true" entry means that the corresponding "velocities" element contains valid data - There are 6 entries. 00075 */ 00076 vector_bool hasVelocities; 00077 00078 /** 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). 00079 */ 00080 vector_float velocities; 00081 00082 }; // End of class def. 00083 00084 00085 } // End of namespace 00086 } // End of namespace 00087 00088 #endif
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