9#ifndef CObservationVisualLandmarks_H
10#define CObservationVisualLandmarks_H
#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 class for storing a map of 3D probabilistic landmarks.
Declares a class that represents any robot's observation.
Declares a class derived from "CObservation" that stores a Landmarks Map as seen from a stereo camera...
mrpt::poses::CPose3D refCameraPose
The 3D pose of the reference camera relative to robot coordinates.
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
A general method to change the sensor pose on the robot.
mrpt::maps::CLandmarksMap landmarks
The landmarks, with coordinates origin in the camera reference system.
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...
CObservationVisualLandmarks()
Constructor.
float likelihoodWith(const mrpt::obs::CObservation *anotherObs, const mrpt::poses::CPosePDF *anotherObsPose=NULL) const
Implements the virtual method in charge of finding the likelihood between this and another observatio...
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
A general method to retrieve the sensor pose on the robot.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.