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obs/CObservationBeaconRanges.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9#ifndef CObservationBeaconRanges_H
10#define CObservationBeaconRanges_H
11
14#include <mrpt/poses/CPoint3D.h>
15#include <mrpt/poses/CPose2D.h>
16#include <mrpt/poses/CPose3D.h>
17
18namespace mrpt
19{
20namespace obs
21{
23
24 /** Declares a class derived from "CObservation" that represents one (or more) range measurements to labeled beacons.
25 * \sa CObservation
26 * \ingroup mrpt_obs_grp
27 */
29 {
30 // This must be added to any CSerializable derived class:
32
33 public:
34 /** Default constructor.
35 */
37
38 /** Information about the sensor:
39 */
40 float minSensorDistance, maxSensorDistance;
41
42 /** The "sigma" of the sensor, assuming a zero-mean Gaussian noise model.
43 */
44 float stdError;
45
46 /** Each one of the measurements:
47 */
49 {
50 TMeasurement() : sensorLocationOnRobot(), sensedDistance(0),beaconID(INVALID_BEACON_ID)
51 {}
52
53 /** The position of the sensor on the robot.
54 */
56
57 /** The sensed range itself (in meters).
58 */
60
61 /** The ID of the sensed beacon (or INVALID_BEACON_ID)
62 */
64 };
65
66 /** The list of observed ranges:
67 */
68 std::deque<TMeasurement> sensedData;
69
70 /** The (X,Y,PHI) pose estimated by the UWB software, for comparison purposes (Added in streamming version 1) */
72
73 /** Prints out the contents of the object.
74 */
76
77 void getSensorPose( mrpt::poses::CPose3D &out_sensorPose ) const MRPT_OVERRIDE;// See base class docs.
78 void setSensorPose( const mrpt::poses::CPose3D &newSensorPose ) MRPT_OVERRIDE;// See base class docs.
79 void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE;// See base class docs
80
81 /** Easy look-up into the vector sensedData, returns the range for a given beacon, or 0 if the beacon is not observed.
82 */
84
85 }; // End of class def.
87
88
89 } // End of namespace
90} // End of namespace
91
92#endif
#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...
Declares a class derived from "CObservation" that represents one (or more) range measurements to labe...
float stdError
The "sigma" of the sensor, assuming a zero-mean Gaussian noise model.
float getSensedRangeByBeaconID(int32_t beaconID)
Easy look-up into the vector sensedData, returns the range for a given beacon, or 0 if the beacon is ...
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
A general method to change the sensor pose on the robot.
mrpt::poses::CPose2D auxEstimatePose
The (X,Y,PHI) pose estimated by the UWB software, for comparison purposes (Added in streamming versio...
void debugPrintOut()
Prints out the contents of the object.
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
A general method to retrieve the sensor pose on the robot.
CObservationBeaconRanges()
Default constructor.
void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
std::deque< TMeasurement > sensedData
The list of observed ranges:
Declares a class that represents any robot's observation.
A class used to store a 3D point.
Definition CPoint3D.h:33
A class used to store a 2D pose.
Definition CPose2D.h:37
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition CPose3D.h:73
#define INVALID_BEACON_ID
Used for CObservationBeaconRange.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Definition mrpt_macros.h:28
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
signed long int32_t
Definition pstdint.h:247
mrpt::poses::CPoint3D sensorLocationOnRobot
The position of the sensor on the robot.
int32_t beaconID
The ID of the sensed beacon (or INVALID_BEACON_ID)
float sensedDistance
The sensed range itself (in meters).



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