CLogFileRecord.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2015, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef CLogFileRecord_H
#define CLogFileRecord_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/maps/CSimplePointsMap.h>

#include <mrpt/nav/holonomic/CHolonomicLogFileRecord.h>


namespace mrpt
{
namespace nav
{
        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CLogFileRecord, mrpt::utils::CSerializable, NAV_IMPEXP )

        /** A class for storing, saving and loading a reactive navigation
         *   log record for the CReactiveNavigationSystem class.
         * \sa CReactiveNavigationSystem, CHolonomicLogFileRecord
         *  \ingroup mrpt_nav_grp
         */
        class NAV_IMPEXP  CLogFileRecord : public mrpt::utils::CSerializable
        {
                DEFINE_SERIALIZABLE( CLogFileRecord )

        public:
                CLogFileRecord();  //!< Constructor, builds an empty record.
                virtual ~CLogFileRecord();   //!< Destructor, free all objects.

                void operator =( CLogFileRecord &);  //!< Copy .

                /** The structure used to store all relevant information about each
                  *  transformation into TP-Space.
          *  \ingroup mrpt_nav_grp
                  */
                struct TInfoPerPTG
                {
                        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 direction.
                        mrpt::math::TPoint2D            TP_Target;     //!< Target location in TP-Space
                        float                                           timeForTPObsTransformation,timeForHolonomicMethod;  //!< Time, in seconds.
                        float                                           desiredDirection,desiredSpeed, evaluation;          //!< The results from the holonomic method.
                        mrpt::math::CVectorFloat                                evalFactors;   //!< Evaluation factors
                        CHolonomicLogFileRecordPtr      HLFR;          //!< Other useful info about holonomic method execution.
                };

                mrpt::system::TTimeStamp   timestamp;  //!< The timestamp of when this log was processed by the reactive algorithm (It can be INVALID_TIMESTAMP for navigation logs in MRPT <0.9.5)
                uint32_t       nPTGs;  //!< The number of PTGS:
                mrpt::math::CVectorFloat   securityDistances;  //!< The security distances:

                 /** The info for each applied PTG: must contain "nPTGs·nSecDistances" elements
                   */
                 std::vector<TInfoPerPTG, Eigen::aligned_allocator<TInfoPerPTG> >       infoPerPTG;

                 int32_t                                        nSelectedPTG;   //!< The selected PTG.
                 float                                          executionTime;  //!< The total computation time, excluding sensing.
                 float                                          estimatedExecutionPeriod;  //!< The estimated execution period.
                 mrpt::maps::CSimplePointsMap  WS_Obstacles;  //!< The WS-Obstacles
                 mrpt::poses::CPose2D          robotOdometryPose; //!< The robot pose (from raw odometry or a localization system).
                 mrpt::math::TPoint2D         WS_target_relative;  //!< The relative location of target point in WS.

                 float                                          v,w;  //!< The final motion command sent to robot, in "m/sec" and "rad/sec".
                 float                                          actual_v,actual_w; //!< The actual robot velocities, as read from sensors, in "m/sec" and "rad/sec".
                 mrpt::math::CVectorFloat                               robotShape_x,robotShape_y;  //!< The used robot shape in WS.
                 int32_t                                        navigatorBehavior;  //!< The navigator behavior.

         private:
                 /** Free all objects in infoPerPTGs structures (used internally).
                   */
                void  freeInfoPerPTGs();


        };
          DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CLogFileRecord, mrpt::utils::CSerializable, NAV_IMPEXP )

}
}


#endif