CObservationBeaconRanges.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/CPoint3D.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/serialization/CSerializable.h>

namespace mrpt::obs
{
/** Declares a class derived from "CObservation" that represents one (or more)
 * range measurements to labeled beacons.
 * \sa CObservation
 * \ingroup mrpt_obs_grp
 */
class CObservationBeaconRanges : public CObservation
{
    DEFINE_SERIALIZABLE(CObservationBeaconRanges, mrpt::obs)

   public:
    /** ctor */
    CObservationBeaconRanges();

    /** Info about sensor */
    float minSensorDistance{0}, maxSensorDistance{1e2f};
    /** The "sigma" of the sensor, assuming a zero-mean Gaussian noise model. */
    float stdError{1e-2f};

    /** Each one of the measurements */
    struct TMeasurement
    {
        TMeasurement()
            : sensorLocationOnRobot(),

              beaconID(INVALID_BEACON_ID)
        {
        }

        /** Position of the sensor on the robot */
        mrpt::poses::CPoint3D sensorLocationOnRobot;
        /** The sensed range itself (in meters). */
        float sensedDistance{0};
        /** The ID of the sensed beacon (or INVALID_BEACON_ID if unknown) */
        int32_t beaconID;
    };

    /** The list of observed ranges */
    std::deque<TMeasurement> sensedData;

    /** The (X,Y,PHI) pose estimated by the UWB software, for comparison
     * purposes (Added in streamming version 1) */
    mrpt::poses::CPose2D auxEstimatePose;

    /** Prints out the contents of the object  */
    void debugPrintOut();

    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

    /** Easy look-up into the vector sensedData, returns the range for a given
     * beacon, or 0 if the beacon is not observed */
    float getSensedRangeByBeaconID(int32_t beaconID);

};  // End of class def.

}  // namespace mrpt::obs