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9 #ifndef CPoses3DSequence_H
10 #define CPoses3DSequence_H
This class stores a sequence of relative, incremental 3D poses.
CPose3D absolutePoseAfterAll()
A shortcut for "absolutePoseOf( posesCount() )".
CPose3D absolutePoseOf(unsigned int n)
Returns the absolute pose of a robot after moving "n" poses, so for "n=0" the origin pose (0,...
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE(class_name, base_name)
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
std::vector< mrpt::math::TPose3D > m_poses
The internal sequence of poses, stored as relative, incremental poses, thus each one is situated just...
void getPose(unsigned int ind, CPose3D &outPose)
Reads the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1".
void changePose(unsigned int ind, CPose3D &inPose)
Changes the stored pose at index "ind", where the first one is 0, the last "posesCount() - 1".
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
void appendPose(CPose3D &newPose)
Appends a new pose at the end of sequence.
void clear()
Clears the sequence.
The virtual base class which provides a unified interface for all persistent objects in MRPT.
size_t posesCount()
Returns the poses count in the sequence:
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
CPoses3DSequence()
Default constructor.
float computeTraveledDistanceAfterAll()
Returns the traveled distance after ALL movements.
float computeTraveledDistanceAfter(unsigned int n)
Returns the traveled distance after moving "n" poses, so for "n=0" it returns 0, for "n=1" the first ...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE(class_name, base_name)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
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