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mrpt::obs::CObservationIMU Class Reference

Detailed Description

This class stores measurements from an Inertial Measurement Unit (IMU) (attitude estimation, raw gyroscope and accelerometer values), altimeters or magnetometers.

The order of the values in each entry of mrpt::obs::CObservationIMU::rawMeasurements is defined as symbolic names in the enum mrpt::obs::TIMUDataIndex. Check it out also for reference on the unit and the coordinate frame used for each value.

See also
CObservation

Definition at line 74 of file obs/CObservationIMU.h.

#include <mrpt/obs/CObservationIMU.h>

Inheritance diagram for mrpt::obs::CObservationIMU:
Inheritance graph

Public Member Functions

 CObservationIMU ()
 Constructor.
 
virtual ~CObservationIMU ()
 Destructor.
 
void getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
 A general method to retrieve the sensor pose on the robot.
 
void setSensorPose (const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
 A general method to change the sensor pose on the robot.
 
void getDescriptionAsText (std::ostream &o) const MRPT_OVERRIDE
 Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.
 
template<class METRICMAP >
bool insertObservationInto (METRICMAP *theMap, const mrpt::poses::CPose3D *robotPose=NULL) const
 This method is equivalent to:
 
void getSensorPose (mrpt::math::TPose3D &out_sensorPose) const
 A general method to retrieve the sensor pose on the robot.
 
void setSensorPose (const mrpt::math::TPose3D &newSensorPose)
 A general method to change the sensor pose on the robot.
 
Delayed-load manual control methods.
virtual void load () const
 Makes sure all images and other fields which may be externally stored are loaded in memory.
 
virtual void unload ()
 Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).
 

Public Attributes

mrpt::poses::CPose3D sensorPose
 The pose of the sensor on the robot.
 
vector_bool dataIsPresent
 Each entry in this vector is true if the corresponding data index contains valid data (the IMU unit supplies that kind of data).
 
std::vector< double > rawMeasurements
 The accelerometer and/or gyroscope measurements taken by the IMU at the given timestamp.
 

Static Public Attributes

RTTI stuff <br>
static const mrpt::utils::TRuntimeClassId classCObservation
 

Protected Member Functions

void swap (CObservation &o)
 Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data.
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE
 
void readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE
 

RTTI stuff <br>

typedef CObservationIMUPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CObservationIMU
 
static mrpt::utils::TRuntimeClassId classCObservationIMU
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const MRPT_OVERRIDE
 
virtual mrpt::utils::CObjectduplicate () const MRPT_OVERRIDE
 
static mrpt::utils::CObjectCreateObject ()
 
static CObservationIMUPtr Create ()
 

Data common to any observation

mrpt::system::TTimeStamp timestamp
 The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading.
 
std::string sensorLabel
 An arbitrary label that can be used to identify the sensor.
 
mrpt::system::TTimeStamp getTimeStamp () const
 Returns CObservation::timestamp for all kind of observations.
 
virtual mrpt::system::TTimeStamp getOriginalReceivedTimeStamp () const
 By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp.
 

Member Typedef Documentation

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 77 of file obs/CObservationIMU.h.

Constructor & Destructor Documentation

◆ CObservationIMU()

mrpt::obs::CObservationIMU::CObservationIMU ( )
inline

Constructor.

Definition at line 82 of file obs/CObservationIMU.h.

References mrpt::obs::COUNT_IMU_DATA_FIELDS.

◆ ~CObservationIMU()

virtual mrpt::obs::CObservationIMU::~CObservationIMU ( )
inlinevirtual

Destructor.

Definition at line 90 of file obs/CObservationIMU.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId * mrpt::obs::CObservationIMU::_GetBaseClass ( )
staticprotected

◆ Create()

static CObservationIMUPtr mrpt::obs::CObservationIMU::Create ( )
static

◆ CreateObject()

static mrpt::utils::CObject * mrpt::obs::CObservationIMU::CreateObject ( )
static

◆ duplicate()

virtual mrpt::utils::CObject * mrpt::obs::CObservationIMU::duplicate ( ) const
virtual

◆ getDescriptionAsText()

void mrpt::obs::CObservationIMU::getDescriptionAsText ( std::ostream &  o) const
virtual

Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.

Note
If overried by derived classes, call base CObservation::getDescriptionAsText() first to show common information.
This is the text that appears in RawLogViewer when selecting an object in the dataset

Reimplemented from mrpt::obs::CObservation.

◆ getOriginalReceivedTimeStamp()

virtual mrpt::system::TTimeStamp mrpt::obs::CObservation::getOriginalReceivedTimeStamp ( ) const
inlinevirtualinherited

By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp.

See also
getTimeStamp()

Reimplemented in mrpt::obs::CObservationGPS, and mrpt::obs::CObservationVelodyneScan.

Definition at line 65 of file obs/CObservation.h.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId * mrpt::obs::CObservationIMU::GetRuntimeClass ( ) const
virtual

Reimplemented from mrpt::obs::CObservation.

◆ getSensorPose() [1/2]

void mrpt::obs::CObservation::getSensorPose ( mrpt::math::TPose3D out_sensorPose) const
inherited

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See also
setSensorPose

◆ getSensorPose() [2/2]

void mrpt::obs::CObservationIMU::getSensorPose ( mrpt::poses::CPose3D out_sensorPose) const
inlinevirtual

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See also
setSensorPose

Implements mrpt::obs::CObservation.

Definition at line 108 of file obs/CObservationIMU.h.

◆ getTimeStamp()

mrpt::system::TTimeStamp mrpt::obs::CObservation::getTimeStamp ( ) const
inlineinherited

Returns CObservation::timestamp for all kind of observations.

See also
getOriginalReceivedTimeStamp()

Definition at line 63 of file obs/CObservation.h.

◆ insertObservationInto()

template<class METRICMAP >
bool mrpt::obs::CObservation::insertObservationInto ( METRICMAP *  theMap,
const mrpt::poses::CPose3D robotPose = NULL 
) const
inlineinherited

This method is equivalent to:

map->insertObservation(this, robotPose)
Parameters
theMapThe map where this observation is to be inserted: the map will be updated.
robotPoseThe pose of the robot base for this observation, relative to the target metric map. Set to NULL (default) to use (0,0,0deg)
Returns
Returns true if the map has been updated, or false if this observations has nothing to do with a metric map (for example, a sound observation).
See also
CMetricMap, CMetricMap::insertObservation

Definition at line 83 of file obs/CObservation.h.

◆ load()

virtual void mrpt::obs::CObservation::load ( ) const
inlinevirtualinherited

Makes sure all images and other fields which may be externally stored are loaded in memory.

Note that for all CImages, calling load() is not required since the images will be automatically loaded upon first access, so load() shouldn't be needed to be called in normal cases by the user. If all the data were alredy loaded or this object has no externally stored data fields, calling this method has no effects.

See also
unload

Reimplemented in mrpt::obs::CObservation3DRangeScan.

Definition at line 125 of file obs/CObservation.h.

◆ readFromStream()

void mrpt::obs::CObservationIMU::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protected

◆ setSensorPose() [1/2]

void mrpt::obs::CObservation::setSensorPose ( const mrpt::math::TPose3D newSensorPose)
inherited

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See also
getSensorPose

◆ setSensorPose() [2/2]

void mrpt::obs::CObservationIMU::setSensorPose ( const mrpt::poses::CPose3D newSensorPose)
inlinevirtual

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See also
getSensorPose

Implements mrpt::obs::CObservation.

Definition at line 109 of file obs/CObservationIMU.h.

◆ swap()

void mrpt::obs::CObservation::swap ( CObservation o)
protectedinherited

Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data.

◆ unload()

virtual void mrpt::obs::CObservation::unload ( )
inlinevirtualinherited

Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).

See also
load

Reimplemented in mrpt::obs::CObservation3DRangeScan.

Definition at line 129 of file obs/CObservation.h.

◆ writeToStream()

void mrpt::obs::CObservationIMU::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protected

Member Data Documentation

◆ _init_CObservationIMU

mrpt::utils::CLASSINIT mrpt::obs::CObservationIMU::_init_CObservationIMU
staticprotected

Definition at line 77 of file obs/CObservationIMU.h.

◆ classCObservation

const mrpt::utils::TRuntimeClassId mrpt::obs::CObservation::classCObservation
staticinherited

Definition at line 50 of file obs/CObservation.h.

◆ classCObservationIMU

mrpt::utils::TRuntimeClassId mrpt::obs::CObservationIMU::classCObservationIMU
static

Definition at line 77 of file obs/CObservationIMU.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservationIMU::classinfo
static

Definition at line 77 of file obs/CObservationIMU.h.

◆ dataIsPresent

vector_bool mrpt::obs::CObservationIMU::dataIsPresent

Each entry in this vector is true if the corresponding data index contains valid data (the IMU unit supplies that kind of data).

See the top of this page for the meaning of the indices.

Definition at line 99 of file obs/CObservationIMU.h.

◆ rawMeasurements

std::vector<double> mrpt::obs::CObservationIMU::rawMeasurements

The accelerometer and/or gyroscope measurements taken by the IMU at the given timestamp.

See also
dataIsPresent, CObservation::timestamp

Definition at line 104 of file obs/CObservationIMU.h.

◆ sensorLabel

std::string mrpt::obs::CObservation::sensorLabel
inherited

An arbitrary label that can be used to identify the sensor.

Definition at line 60 of file obs/CObservation.h.

◆ sensorPose

mrpt::poses::CPose3D mrpt::obs::CObservationIMU::sensorPose

The pose of the sensor on the robot.

Definition at line 94 of file obs/CObservationIMU.h.

◆ timestamp

mrpt::system::TTimeStamp mrpt::obs::CObservation::timestamp
inherited

The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading.

See also
getOriginalReceivedTimeStamp(), getTimeStamp()

Definition at line 59 of file obs/CObservation.h.




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