CObservation6DFeatures.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/obs/CObservation.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/serialization/CSerializable.h>
#include <deque>

namespace mrpt::obs
{
/** 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.
 * The list of features is stored in \a sensedFeatures
 * \sa CObservation
 * \ingroup mrpt_obs_grp
 */
class CObservation6DFeatures : public CObservation
{
    DEFINE_SERIALIZABLE(CObservation6DFeatures, mrpt::obs)
   public:
    /** Default ctor */
    CObservation6DFeatures();

    /** Information about the sensor */
    float minSensorDistance{0}, maxSensorDistance{1e6f};

    /** Each one of the measurements */
    struct TMeasurement
    {
        /** The observed feature SE(3) pose with respect to the sensor */
        mrpt::poses::CPose3D pose;
        /** The feature ID, or INVALID_LANDMARK_ID if unidentified (default) */
        int32_t id;
        /** The inverse of the observation covariance matrix (default:all zeros)
         */
        mrpt::math::CMatrixDouble66 inf_matrix;

        /** Ctor with default values */
        TMeasurement();

        // Required because we contain Eigen
        // matrices
    };
    /** The list of observed features */
    std::deque<TMeasurement> sensedFeatures;

    /** The pose of the sensor on the robot/vehicle */
    mrpt::poses::CPose3D sensorPose;

    void getSensorPose(mrpt::poses::CPose3D& out_sensorPose)
        const override;  // See base class docs.
    void setSensorPose(const mrpt::poses::CPose3D& newSensorPose)
        override;  // See base class docs.
    void getDescriptionAsText(
        std::ostream& o) const override;  // See base class docs

};  // End of class def.

}  // namespace mrpt::obs