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.
TEstimationMethod
A list of posible ways for estimating the content of a CActionRobotMovement2D object.
float additional_std_XY
An additional noise added to the thrun model (std.
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.