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9 #ifndef CLogFileRecord_H
10 #define CLogFileRecord_H
52 CHolonomicLogFileRecordPtr
HLFR;
63 std::vector<TInfoPerPTG, Eigen::aligned_allocator<TInfoPerPTG> >
infoPerPTG;
80 void freeInfoPerPTGs();
A class for storing, saving and loading a reactive navigation log record for the CReactiveNavigationS...
Column vector, like Eigen::MatrixX*, but automatically initialized to zeros since construction.
float executionTime
The total computation time, excluding sensing.
mrpt::math::TPoint2D TP_Target
Target location in TP-Space.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
std::string PTG_desc
A short description for the applied PTG.
mrpt::math::CVectorFloat TP_Obstacles
Distances until obstacles, in "pseudometers", first index for -PI direction, last one for PI directio...
float timeForTPObsTransformation
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1,...
float actual_w
The actual robot velocities, as read from sensors, in "m/sec" and "rad/sec".
mrpt::math::CVectorFloat evalFactors
Evaluation factors.
A class used to store a 2D pose.
std::vector< TInfoPerPTG, Eigen::aligned_allocator< TInfoPerPTG > > infoPerPTG
The info for each applied PTG: must contain "nPTGs * nSecDistances" elements.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
float w
The final motion command sent to robot, in "m/sec" and "rad/sec".
mrpt::system::TTimeStamp timestamp
The timestamp of when this log was processed by the reactive algorithm (It can be INVALID_TIMESTAMP f...
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.
The structure used to store all relevant information about each transformation into TP-Space.
mrpt::nav::CParameterizedTrajectoryGeneratorPtr ptg_trajectory
This will point to a CPTG_Dummy object with trajectory data, but only for the FIRST entry in a log fi...
CHolonomicLogFileRecordPtr HLFR
Other useful info about holonomic method execution.
mrpt::maps::CSimplePointsMap WS_Obstacles
The WS-Obstacles.
The virtual base class which provides a unified interface for all persistent objects in MRPT.
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
mrpt::math::CVectorFloat robotShape_y
The used robot shape in WS.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
uint32_t nPTGs
The number of PTGS:
int32_t nSelectedPTG
The selected PTG.
float evaluation
The results from the holonomic method.
mrpt::math::TPoint2D WS_target_relative
The relative location of target point in WS.
mrpt::poses::CPose2D robotOdometryPose
The robot pose (from raw odometry or a localization system).
int32_t navigatorBehavior
The navigator behavior.
float estimatedExecutionPeriod
The estimated execution period.
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