CObservationRange.h

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/* +------------------------------------------------------------------------+
   |                     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/CPose2D.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/serialization/CSerializable.h>

namespace mrpt::obs
{
/** Declares a class derived from "CObservation" that
       encapsules a single range measurement, and associated parameters. This
 can be used
 *     for example to store measurements from infrared proximity sensors (IR) or
 ultrasonic sensors (sonars).
 *
 * \sa CObservation
 * \ingroup mrpt_obs_grp
 */
class CObservationRange : public CObservation
{
    DEFINE_SERIALIZABLE(CObservationRange, mrpt::obs)

   public:
    CObservationRange() = default;

    /** The data members
     */
    float minSensorDistance{0};
    float maxSensorDistance{5};

    /** Cone aperture of each ultrasonic beam, in radians. */
    float sensorConeApperture = mrpt::d2f(20.0_deg);

    struct TMeasurement
    {
        TMeasurement() : sensorPose() {}
        /** Some kind of sensor ID which identifies it on the bus (if
         * applicable, 0 otherwise)
         */
        uint16_t sensorID{0};

        /** The 6D position of the sensor on the robot.
         */
        math::TPose3D sensorPose;

        /** The measured range, in meters (or a value of 0 if there was no
         * detected echo).
         */
        float sensedDistance{0};
    };

    using TMeasurementList = std::deque<TMeasurement>;
    using const_iterator = std::deque<TMeasurement>::const_iterator;
    using iterator = std::deque<TMeasurement>::iterator;

    /** All the measurements */
    TMeasurementList sensedData;

    iterator begin() { return sensedData.begin(); }
    iterator end() { return sensedData.end(); }
    const_iterator begin() const { return sensedData.begin(); }
    const_iterator end() const { return sensedData.end(); }
    // See base class docs
    void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const override;
    void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) override;
    void getDescriptionAsText(std::ostream& o) const override;

};  // End of class def.
}  // namespace mrpt::obs