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