9 #ifndef CActionRobotMovement2D_H 10 #define CActionRobotMovement2D_H 98 } motionModelConfiguration;
104 void computeFromOdometry(
114 void computeFromEncoders(
126 void prepareFastDrawSingleSamples()
const;
136 void computeFromOdometry_modelGaussian(
145 void computeFromOdometry_modelThrun(
160 void prepareFastDrawSingleSample_modelGaussian()
const;
164 void prepareFastDrawSingleSample_modelThrun()
const;
Options for the gaussian model, which generates a CPosePDFGaussian object in poseChange See docs in :...
TEstimationMethod estimationMethod
This fields indicates the way in which this estimation was obtained.
The parameter to be passed to "computeFromOdometry".
mrpt::poses::CPose2D m_fastDrawGauss_M
Represents a probabilistic 2D movement of the robot mobile base.
A numeric matrix of compile-time fixed size.
#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::CMatrixDouble33 m_fastDrawGauss_Z
Auxiliary matrix.
float additional_std_XY
An additional noise added to the thrun model (std.
TEstimationMethod
A list of posible ways for estimating the content of a CActionRobotMovement2D object.
bool hasEncodersInfo
If "true" means that "encoderLeftTicks" and "encoderRightTicks" contain valid values.
TDrawSampleMotionModel modelSelection
The model to be used.
Options for the Thrun's model, which generates a CPosePDFParticles object in poseChange See docs in :...
Declares a class for storing a robot action.
int32_t encoderRightTicks
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A class used to store a 2D pose.
uint32_t nParticlesCount
The default number of particles to generate in a internal representation (anyway you can draw as many...
mrpt::poses::CPosePDFPtr poseChange
The 2D pose change probabilistic estimation.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
mrpt::poses::CPose2D rawOdometryIncrementReading
This is the raw odometry reading, and only is used when "estimationMethod" is "TEstimationMethod::emO...
bool hasVelocities
If "true" means that "velocityLin" and "velocityAng" contain valid values.