Class CActionCollection

Inheritance Relationships

Base Type

  • public mrpt::serialization::CSerializable

Class Documentation

class CActionCollection : public mrpt::serialization::CSerializable

Declares a class for storing a collection of robot actions. It is used in mrpt::obs::CRawlog, for logs storage and particle filter based simulations.

See also

CAction, CRawlog

Public Types

using iterator = std::deque<mrpt::containers::deepcopy_poly_ptr<CAction::Ptr>>::iterator

You can use CActionCollection::begin to get a iterator to the first element.

using const_iterator = std::deque<mrpt::containers::deepcopy_poly_ptr<CAction::Ptr>>::const_iterator

You can use CActionCollection::begin to get a iterator to the first element.

Public Functions

CActionCollection() = default

ctor

CActionCollection(CAction &a)

Constructor from a single action.

inline const_iterator begin() const

Returns a iterator to the first action: this is an example of usage: 

CActionCollection  acts;
...
for (CActionCollection::iterator it=acts.begin();it!=acts.end();++it)
   {
   (*it)->... // (*it) is a "CAction::Ptr"
}

inline iterator begin()

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

inline const_iterator end() const

Returns a iterator pointing to the end of the list: this is an example of usage: 

CActionCollection  acts;
...
for (CActionCollection::iterator it=acts.begin();it!=acts.end();++it)
   {
   (*it)->... // (*it) is a "CAction::Ptr"
}

inline iterator end()

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

iterator erase(const iterator &it)

Removes the given action in the list, and return an iterator to the next element (or this->end() if it was the last one).

void clear()

Erase all actions from the list

CAction::Ptr get(size_t index)

Access the i’th action.DO NOT MODIFY the returned object, make a copy of ir with “CSerializable::duplicate” if desired. First element is 0.

Throws:

std::exception – On index out of bounds.

CAction::ConstPtr get(size_t index) const
template<typename T>
inline T::Ptr getActionByClass(size_t ith = 0) const

Access to the i’th action of a given class, or a nullptr smart pointer if there is no action of that class in the list. Example: 

   CActionRobotMovement2D::Ptr obs =
acts->getActionByClass<CActionRobotMovement2D>();
By default (ith=0), the first one is returned.

void insert(const CAction &action)

Add a new object to the list, making a deep copy.

void insertPtr(const CAction::Ptr &action)

Add a new object to the list (no deep copy).

Note

(New in MRPT 2.3.1)

size_t size() const

Returns the actions count in the collection.

CActionRobotMovement2D::Ptr getBestMovementEstimation() const

Returns the best pose increment estimator in the collection, based on the determinant of its pose change covariance matrix.

Returns:

The estimation, or nullptr if none is available.

CActionRobotMovement2D::Ptr getMovementEstimationByType(CActionRobotMovement2D::TEstimationMethod method)

Returns the pose increment estimator in the collection having the specified type.

Returns:

The estimation, or nullptr if none is available.

bool getFirstMovementEstimationMean(mrpt::poses::CPose3D &out_pose_increment) const

Look for the first 2D or 3D “odometry” found in this collection of actions, and return the “mean” increment of the robot according to it.

Returns:

true on success,false on no odometry found.

bool getFirstMovementEstimation(mrpt::poses::CPose3DPDFGaussian &out_pose_increment) const

Look for the first 2D or 3D “odometry” found in this collection of actions, and return the “mean” increment of the robot and its covariance according to it.

Returns:

true on success,false on no odometry found.

void eraseByIndex(size_t index)

Remove an action from the list by its index.

Throws:

std::exception – On index out of bounds.

Protected Attributes

std::deque<mrpt::containers::deepcopy_poly_ptr<CAction::Ptr>> m_actions

The robot “actions”