9#ifndef CObservationRange_H
10#define CObservationRange_H
66 typedef std::deque<TMeasurement>::iterator
iterator;
#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 that represents any robot's observation.
Declares a class derived from "CObservation" that encapsules a single range measurement,...
std::deque< TMeasurement >::const_iterator const_iterator
std::deque< TMeasurement > TMeasurementList
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
A general method to retrieve the sensor pose on the robot.
float sensorConeApperture
Cone aperture of each ultrasonic beam, in radians.
TMeasurementList sensedData
All the measurements.
const_iterator begin() const
const_iterator end() const
std::deque< TMeasurement >::iterator iterator
float minSensorDistance
The data members.
CObservationRange()
Default constructor.
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 outpu...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).
uint16_t sensorID
Some kind of sensor ID which identifies it on the bus (if applicable, 0 otherwise)
math::TPose3D sensorPose
The 6D position of the sensor on the robot.
float sensedDistance
The measured range, in meters (or a value of 0 if there was no detected echo).