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mrpt::obs Namespace Reference

Detailed Description

This namespace contains representation of robot actions and observations.

Namespaces

 detail
 
 gnss
 GNSS (GPS) data structures, mainly for use within mrpt::obs::CObservationGPS.
 
 utils
 

Classes

class  CAction
 Declares a class for storing a robot action. More...
 
class  CActionCollection
 Declares a class for storing a collection of robot actions. More...
 
class  CActionRobotMovement2D
 Represents a probabilistic 2D movement of the robot mobile base. More...
 
class  CActionRobotMovement3D
 Represents a probabilistic 3D (6D) movement. More...
 
class  CObservation
 Declares a class that represents any robot's observation. More...
 
class  CObservation2DRangeScan
 A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser scanner). More...
 
class  CObservation2DRangeScanWithUncertainty
 A 2D range scan plus an uncertainty model for each range. More...
 
class  CObservation3DRangeScan
 Declares a class derived from "CObservation" that encapsules a 3D range scan measurement, as from a time-of-flight range camera or any other RGBD sensor. More...
 
class  CObservation6DFeatures
 An observation of one or more "features" or "objects", possibly identified with a unique ID, whose relative SE(3) pose is observed with respect to the sensor. More...
 
class  CObservationBatteryState
 This represents a measurement of the batteries on the robot. More...
 
class  CObservationBeaconRanges
 Declares a class derived from "CObservation" that represents one (or more) range measurements to labeled beacons. More...
 
class  CObservationBearingRange
 This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs. More...
 
class  CObservationCANBusJ1939
 This class stores a message from a CAN BUS with the protocol J1939. More...
 
class  CObservationComment
 This "observation" is actually a placeholder for a text block with comments or additional parameters attached to a given rawlog file. More...
 
class  CObservationGasSensors
 Declares a class derived from "CObservation" that represents a set of readings from gas sensors. More...
 
class  CObservationGPS
 This class stores messages from GNSS or GNSS+IMU devices, from consumer-grade inexpensive GPS receivers to Novatel/Topcon/... More...
 
class  CObservationImage
 Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored. More...
 
class  CObservationIMU
 This class stores measurements from an Inertial Measurement Unit (IMU) (attitude estimation, raw gyroscope and accelerometer values), altimeters or magnetometers. More...
 
class  CObservationOdometry
 An observation of the current (cumulative) odometry for a wheeled robot. More...
 
class  CObservationRange
 Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters. More...
 
class  CObservationRawDAQ
 Store raw data from a Data Acquisition (DAQ) device, such that input or output analog and digital channels, counters from encoders, etc. More...
 
class  CObservationReflectivity
 Declares a class derived from "CObservation" that encapsules a single short-range reflectivity measurement. More...
 
class  CObservationRFID
 This represents one or more RFID tags observed by a receiver. More...
 
class  CObservationRGBD360
 Declares a class derived from "CObservation" that encapsules an omnidirectional RGBD measurement from a set of RGBD sensors. More...
 
class  CObservationRobotPose
 An observation providing an alternative robot pose from an external source. More...
 
class  CObservationSkeleton
 This class stores a skeleton as tracked by OPENNI2 & NITE2 libraries from PrimeSense sensors. More...
 
class  CObservationStereoImages
 Observation class for either a pair of left+right or left+disparity images from a stereo camera. More...
 
class  CObservationStereoImagesFeatures
 Declares a class derived from "CObservation" that encapsules a pair of cameras and a set of matched image features extracted from them. More...
 
class  CObservationVelodyneScan
 A CObservation-derived class for RAW DATA (and optionally, point cloud) of scans from 3D Velodyne LIDAR scanners. More...
 
class  CObservationVisualLandmarks
 Declares a class derived from "CObservation" that stores a Landmarks Map as seen from a stereo camera at a given instant of time. More...
 
class  CObservationWindSensor
 Declares a class derived from "CObservation" that represents the wind measurements taken on the robot by an anemometer. More...
 
class  CObservationWirelessPower
 This represents a measurement of the wireless strength perceived by the robot. More...
 
class  CRawlog
 This class stores a rawlog (robotic datasets) in one of two possible formats: More...
 
class  CSensoryFrame
 Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximately at the same time as one "snapshot" of the environment. More...
 
class  CSinCosLookUpTableFor2DScans
 A smart look-up-table (LUT) of sin/cos values for 2D laser scans. More...
 
struct  T2DScanProperties
 Auxiliary struct that holds all the relevant geometry information about a 2D scan. More...
 
struct  T3DPointsProjectionParams
 Used in CObservation3DRangeScan::project3DPointsFromDepthImageInto() More...
 
struct  T3DPointsTo2DScanParams
 Used in CObservation3DRangeScan::convertTo2DScan() More...
 
struct  TRangeImageFilter
 Mainly for internal use within CObservation3DRangeScan::project3DPointsFromDepthImageInto() More...
 
struct  TRangeImageFilterParams
 Used in CObservation3DRangeScan::project3DPointsFromDepthImageInto() More...
 
struct  TStereoImageFeatures
 
struct  VelodyneCalibration
 Velodyne calibration data, for usage in mrpt::obs::CObservationVelodyneScan. More...
 

Typedefs

typedef std::pair< mrpt::system::TTimeStamp, CObservationPtr > TTimeObservationPair
 For usage with CRawlog classes. More...
 
typedef std::multimap< mrpt::system::TTimeStamp, CObservationPtr > TListTimeAndObservations
 For usage with CRawlog classes. More...
 

Enumerations

enum  TIMUDataIndex {
  IMU_X_ACC = 0, IMU_Y_ACC, IMU_Z_ACC, IMU_YAW_VEL,
  IMU_PITCH_VEL, IMU_ROLL_VEL, IMU_X_VEL, IMU_Y_VEL,
  IMU_Z_VEL, IMU_YAW, IMU_PITCH, IMU_ROLL,
  IMU_X, IMU_Y, IMU_Z, IMU_MAG_X,
  IMU_MAG_Y, IMU_MAG_Z, IMU_PRESSURE, IMU_ALTITUDE,
  IMU_TEMPERATURE, IMU_ORI_QUAT_X, IMU_ORI_QUAT_Y, IMU_ORI_QUAT_Z,
  IMU_ORI_QUAT_W, IMU_YAW_VEL_GLOBAL, IMU_PITCH_VEL_GLOBAL, IMU_ROLL_VEL_GLOBAL,
  IMU_X_ACC_GLOBAL, IMU_Y_ACC_GLOBAL, IMU_Z_ACC_GLOBAL, COUNT_IMU_DATA_FIELDS
}
 Symbolic names for the indices of IMU data (refer to mrpt::obs::CObservationIMU) More...
 

Functions

::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CActionPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CActionCollectionPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CActionRobotMovement2DPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CActionRobotMovement3DPtr &pObj)
 
bool OBS_IMPEXP carmen_log_parse_line (std::istream &in_stream, std::vector< mrpt::obs::CObservationPtr > &out_imported_observations, const mrpt::system::TTimeStamp &time_start_log)
 Parse one line from an text input stream and interpret it as a CARMEN log entry, returning its MRPT observation representation. More...
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservation2DRangeScanPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservation3DRangeScanPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservation6DFeaturesPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationBatteryStatePtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationBeaconRangesPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationBearingRangePtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationCANBusJ1939Ptr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationCommentPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationGasSensorsPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationGPSPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationImagePtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationIMUPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationOdometryPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationRangePtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationRawDAQPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationReflectivityPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationRFIDPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationRGBD360Ptr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationRobotPosePtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationSkeletonPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationStereoImagesPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationStereoImagesFeaturesPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationVelodyneScanPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationWindSensorPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationWirelessPowerPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CRawlogPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CSensoryFramePtr &pObj)
 
bool OBS_IMPEXP operator< (const T2DScanProperties &a, const T2DScanProperties &b)
 Order operator, so T2DScanProperties can appear in associative STL containers. More...
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationVisualLandmarksPtr &pObj)
 

Variables

void OBS_IMPEXP(* ptr_internal_build_points_map_from_scan2D )(const mrpt::obs::CObservation2DRangeScan &obs, mrpt::maps::CMetricMapPtr &out_map, const void *insertOps) = NULL
 

Typedef Documentation

typedef std::multimap<mrpt::system::TTimeStamp, CObservationPtr> mrpt::obs::TListTimeAndObservations

For usage with CRawlog classes.

Definition at line 26 of file obs/CRawlog.h.

typedef std::pair<mrpt::system::TTimeStamp, CObservationPtr> mrpt::obs::TTimeObservationPair

For usage with CRawlog classes.

Definition at line 25 of file obs/CRawlog.h.

Function Documentation

bool mrpt::obs::operator< ( const T2DScanProperties a,
const T2DScanProperties b 
)

Order operator, so T2DScanProperties can appear in associative STL containers.

Definition at line 468 of file CObservation2DRangeScan.cpp.

References mrpt::obs::T2DScanProperties::aperture, mrpt::obs::T2DScanProperties::nRays, and mrpt::obs::T2DScanProperties::rightToLeft.

::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CActionRobotMovement3DPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservationRawDAQPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservationReflectivityPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservationCANBusJ1939Ptr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservationCommentPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservationBearingRangePtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservationRobotPosePtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservation6DFeaturesPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservationBatteryStatePtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservationRangePtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservationRFIDPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservationWirelessPowerPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservationVisualLandmarksPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CSensoryFramePtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CActionRobotMovement2DPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservationBeaconRangesPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservationWindSensorPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservationSkeletonPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservationGasSensorsPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservationOdometryPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CActionCollectionPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservationGPSPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservationIMUPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CRawlogPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservationVelodyneScanPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservationImagePtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservationStereoImagesPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CActionPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservationRGBD360Ptr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservation2DRangeScanPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservationPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservationStereoImagesFeaturesPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::obs::operator>> ( mrpt::utils::CStream in,
CObservation3DRangeScanPtr &  pObj 
)

Variable Documentation

void(* mrpt::obs::ptr_internal_build_points_map_from_scan2D)(const mrpt::obs::CObservation2DRangeScan &obs, mrpt::maps::CMetricMapPtr &out_map, const void *insertOps) = NULL



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