mrpt::obs::CObservation2DRangeScan Class Reference

Detailed Description

A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser scanner).

The data structures are generic enough to hold a wide variety of 2D scanners and "3D" planar rotating 2D lasers.

These are the most important data fields:

• These three fields are private data member (since MRPT 1.5.0) for safety and to ensure data consistency. Read them with the backwards-compatible proxies scan, intensity, validRange or (preferred) with the new get_*, set_* and resize() methods:
  • CObservation2DRangeScan::scan -> A vector of float values with all the range measurements (in meters).
  • CObservation2DRangeScan::validRange -> A vector (of identical size to scan), has non-zeros for those ranges than are valid (i.e. will be zero for non-reflected rays, etc.)
  • CObservation2DRangeScan::intensity -> A vector (of identical size to scan) a unitless int values representing the relative strength of each return. Higher values indicate a more intense return. This is useful for filtering out low intensity(noisy) returns or detecting intense landmarks.
• CObservation2DRangeScan::aperture -> The field-of-view of the scanner, in radians (typically, M_PI = 180deg).
• CObservation2DRangeScan::sensorPose -> The 6D location of the sensor on the robot reference frame (default=at the origin).

See also

CObservation, CPointsMap, T2DScanProperties

Definition at line 54 of file CObservation2DRangeScan.h.

#include <mrpt/obs/CObservation2DRangeScan.h>

Inheritance diagram for mrpt::obs::CObservation2DRangeScan:

Public Types
using	TListExclusionAreas = std::vector< mrpt::math::CPolygon >
	Used in filterByExclusionAreas. More...
using	TListExclusionAreasWithRanges = std::vector< std::pair< mrpt::math::CPolygon, std::pair< double, double > >>
	Used in filterByExclusionAreas. More...

Public Member Functions
	CObservation2DRangeScan ()=default
	Default constructor. More...
void	loadFromVectors (size_t nRays, const float *scanRanges, const char *scanValidity)
bool	isPlanarScan (const double tolerance=0) const
	Return true if the laser scanner is "horizontal", so it has an absolute value of "pitch" and "roll" less or equal to the given tolerance (in rads, default=0) (with the normal vector either upwards or downwards). More...
bool	hasIntensity () const
	Return true if scan has intensity. More...
void	setScanHasIntensity (bool setHasIntensityFlag)
	Marks this scan as having or not intensity data. More...
void	getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const override
	A general method to retrieve the sensor pose on the robot. More...
void	setSensorPose (const mrpt::poses::CPose3D &newSensorPose) override
	A general method to change the sensor pose on the robot. More...
void	getDescriptionAsText (std::ostream &o) const override
	Build a detailed, multi-line textual description of the observation contents and dump it to the output stream. More...
void	truncateByDistanceAndAngle (float min_distance, float max_angle, float min_height=0, float max_height=0, float h=0)
	A general method to truncate the scan by defining a minimum valid distance and a maximum valid angle as well as minimun and maximum heights (NOTE: the laser z-coordinate must be provided). More...
void	filterByExclusionAreas (const TListExclusionAreas &areas)
	Mark as invalid sensed points that fall within any of a set of "exclusion areas", given in coordinates relative to the vehicle (taking into account "sensorPose"). More...
void	filterByExclusionAreas (const TListExclusionAreasWithRanges &areas)
	Mark as invalid sensed points that fall within any of a set of "exclusion areas", given in coordinates relative to the vehicle (taking into account "sensorPose"), AND such as the Z coordinate of the point falls in the range [min,max] associated to each exclusion polygon. More...
void	filterByExclusionAngles (const std::vector< std::pair< double, double >> &angles)
	Mark as invalid the ranges in any of a given set of "forbiden angle ranges", given as pairs<min_angle,max_angle>. More...
template<class METRICMAP >
bool	insertObservationInto (METRICMAP *theMap, const mrpt::poses::CPose3D *robotPose=nullptr) const
	This method is equivalent to: More...
void	getSensorPose (mrpt::math::TPose3D &out_sensorPose) const
	A general method to retrieve the sensor pose on the robot. More...
void	setSensorPose (const mrpt::math::TPose3D &newSensorPose)
	A general method to change the sensor pose on the robot. More...
std::string	getDescriptionAsTextValue () const
	Return by value version of getDescriptionAsText(std::ostream&) More...
virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
Delayed-load manual control methods.
virtual void	load () const
	Makes sure all images and other fields which may be externally stored are loaded in memory. More...
virtual void	unload ()
	Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect). More...
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Protected Member Functions
void	swap (CObservation &o)
	Swap with another observation, ONLY the data defined here in the base class CObservation. More...
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...
void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...
void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...
CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...
virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

Private Attributes
mrpt::aligned_std_vector< float >	m_scan
	The range values of the scan, in meters. More...
mrpt::aligned_std_vector< int32_t >	m_intensity
	The intensity values of the scan. More...
mrpt::aligned_std_vector< char >	m_validRange
	It's false (=0) on no reflected rays, referenced to elements in scan. More...
bool	m_has_intensity {false}
	Whether the intensity values are present or not. More...

Data common to any observation
mrpt::system::TTimeStamp	timestamp {mrpt::system::now()}
	The associated UTC time-stamp. More...
std::string	sensorLabel
	An arbitrary label that can be used to identify the sensor. More...
mrpt::system::TTimeStamp	getTimeStamp () const
	Returns CObservation::timestamp for all kind of observations. More...
virtual mrpt::system::TTimeStamp	getOriginalReceivedTimeStamp () const
	By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp. More...

RTTI stuff
using	Ptr = std::shared_ptr< mrpt::obs ::CObservation2DRangeScan >
using	ConstPtr = std::shared_ptr< const mrpt::obs ::CObservation2DRangeScan >
using	UniquePtr = std::unique_ptr< mrpt::obs ::CObservation2DRangeScan >
using	ConstUniquePtr = std::unique_ptr< const mrpt::obs ::CObservation2DRangeScan >
static const mrpt::rtti::TRuntimeClassId	runtimeClassId
static constexpr const char *	className = "mrpt::obs" "::" "CObservation2DRangeScan"
static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()
static constexpr auto	getClassName ()
static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()
static std::shared_ptr< CObject >	CreateObject ()
template<typename... Args>
static Ptr	Create (Args &&... args)
template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)
template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)
virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...
virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Scan data
float	aperture {M_PIf}
	The "aperture" or field-of-view of the range finder, in radians (typically M_PI = 180 degrees). More...
bool	rightToLeft {true}
	The scanning direction: true=counterclockwise; false=clockwise. More...
float	maxRange {80.0f}
	The maximum range allowed by the device, in meters (e.g. More...
mrpt::poses::CPose3D	sensorPose
	The 6D pose of the sensor on the robot at the moment of starting the scan. More...
float	stdError {0.01f}
	The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid. More...
float	beamAperture {0}
	The aperture of each beam, in radians, used to insert "thick" rays in the occupancy grid. More...
double	deltaPitch {0}
	If the laser gathers data by sweeping in the pitch/elevation angle, this holds the increment in "pitch" (=-"elevation") between the beginning and the end of the scan (the sensorPose member stands for the pose at the beginning of the scan). More...
void	resizeScan (const size_t len)
	Resizes all data vectors to allocate a given number of scan rays. More...
void	resizeScanAndAssign (const size_t len, const float rangeVal, const bool rangeValidity, const int32_t rangeIntensity=0)
	Resizes all data vectors to allocate a given number of scan rays and assign default values. More...
size_t	getScanSize () const
	Get number of scan rays. More...
const float &	getScanRange (const size_t i) const
	The range values of the scan, in meters. More...
float &	getScanRange (const size_t i)
void	setScanRange (const size_t i, const float val)
const int32_t &	getScanIntensity (const size_t i) const
	The intensity values of the scan. More...
int32_t &	getScanIntensity (const size_t i)
void	setScanIntensity (const size_t i, const int val)
bool	getScanRangeValidity (const size_t i) const
	It's false (=0) on no reflected rays, referenced to elements in scan. More...
void	setScanRangeValidity (const size_t i, const bool val)
void	getScanProperties (T2DScanProperties &p) const
	Fill out a T2DScanProperties structure with the parameters of this scan. More...

Cached points map
mrpt::maps::CMetricMap::Ptr	m_cachedMap
	A points map, build only under demand by the methods getAuxPointsMap() and buildAuxPointsMap(). More...
template<class POINTSMAP >
const POINTSMAP *	getAuxPointsMap () const
	Returns the cached points map representation of the scan, if already build with buildAuxPointsMap(), or nullptr otherwise. More...
template<class POINTSMAP >
const POINTSMAP *	buildAuxPointsMap (const void *options=nullptr) const
	Returns a cached points map representing this laser scan, building it upon the first call. More...
void	internal_buildAuxPointsMap (const void *options=nullptr) const
	Internal method, used from buildAuxPointsMap() More...

Member Typedef Documentation

ConstPtr

using mrpt::obs::CObservation2DRangeScan::ConstPtr = std::shared_ptr<const mrpt::obs :: CObservation2DRangeScan >

Definition at line 56 of file CObservation2DRangeScan.h.

ConstUniquePtr

using mrpt::obs::CObservation2DRangeScan::ConstUniquePtr = std::unique_ptr<const mrpt::obs :: CObservation2DRangeScan >

Definition at line 56 of file CObservation2DRangeScan.h.

Ptr

using mrpt::obs::CObservation2DRangeScan::Ptr = std::shared_ptr< mrpt::obs :: CObservation2DRangeScan >

A type for the associated smart pointer

Definition at line 56 of file CObservation2DRangeScan.h.

TListExclusionAreas

using mrpt::obs::CObservation2DRangeScan::TListExclusionAreas = std::vector<mrpt::math::CPolygon>

Used in filterByExclusionAreas.

Definition at line 75 of file CObservation2DRangeScan.h.

TListExclusionAreasWithRanges

using mrpt::obs::CObservation2DRangeScan::TListExclusionAreasWithRanges = std::vector<std::pair<mrpt::math::CPolygon, std::pair<double, double> >>

Used in filterByExclusionAreas.

Definition at line 78 of file CObservation2DRangeScan.h.

UniquePtr

using mrpt::obs::CObservation2DRangeScan::UniquePtr = std::unique_ptr< mrpt::obs :: CObservation2DRangeScan >

Definition at line 56 of file CObservation2DRangeScan.h.

Constructor & Destructor Documentation

CObservation2DRangeScan()

mrpt::obs::CObservation2DRangeScan::CObservation2DRangeScan ( )

default

Default constructor.

Member Function Documentation

_GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::obs::CObservation2DRangeScan::_GetBaseClass ( )

staticprotected

buildAuxPointsMap()

template<class POINTSMAP >

const POINTSMAP* mrpt::obs::CObservation2DRangeScan::buildAuxPointsMap ( const void *  options = nullptr ) const

inline

Returns a cached points map representing this laser scan, building it upon the first call.

Parameters

options

Can be nullptr to use default point maps' insertion options, or a pointer to a "CPointsMap::TInsertionOptions" structure to override some params. Usage: mrpt::maps::CPointsMap *map = obs->buildAuxPointsMap<mrpt::maps::CPointsMap>(&options or nullptr);

See also

getAuxPointsMap

Definition at line 184 of file CObservation2DRangeScan.h.

References internal_buildAuxPointsMap(), and m_cachedMap.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_Consensus(), mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), and mrpt::slam::observationsOverlap().

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clone()

virtual mrpt::rtti::CObject* mrpt::obs::CObservation2DRangeScan::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

Create()

template<typename... Args>

static Ptr mrpt::obs::CObservation2DRangeScan::Create ( Args &&...  args )

inlinestatic

Definition at line 56 of file CObservation2DRangeScan.h.

Referenced by mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::convert3DTo2DRangeScan().

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CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::obs::CObservation2DRangeScan::CreateAlloc ( const Alloc &  alloc, Args &&...  args  )

inlinestatic

Definition at line 56 of file CObservation2DRangeScan.h.

CreateObject()

static std::shared_ptr<CObject> mrpt::obs::CObservation2DRangeScan::CreateObject ( )

static

CreateUnique()

template<typename... Args>

static UniquePtr mrpt::obs::CObservation2DRangeScan::CreateUnique ( Args &&...  args )

inlinestatic

Definition at line 56 of file CObservation2DRangeScan.h.

duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::insert().

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filterByExclusionAngles()

void CObservation2DRangeScan::filterByExclusionAngles

(

const std::vector< std::pair< double, double >> &

angles

)

Mark as invalid the ranges in any of a given set of "forbiden angle ranges", given as pairs<min_angle,max_angle>.

See also

C2DRangeFinderAbstract::loadExclusionAreas

Definition at line 344 of file CObservation2DRangeScan.cpp.

References ASSERT_EQUAL_, MRPT_END, MRPT_START, mrpt::round(), and mrpt::math::wrapTo2Pi().

Referenced by mrpt::hwdrivers::C2DRangeFinderAbstract::filterByExclusionAngles().

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filterByExclusionAreas() [1/2]

void CObservation2DRangeScan::filterByExclusionAreas

(

const TListExclusionAreas &

areas

)

Mark as invalid sensed points that fall within any of a set of "exclusion areas", given in coordinates relative to the vehicle (taking into account "sensorPose").

See also

C2DRangeFinderAbstract::loadExclusionAreas

Definition at line 323 of file CObservation2DRangeScan.cpp.

Referenced by mrpt::hwdrivers::C2DRangeFinderAbstract::filterByExclusionAreas().

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filterByExclusionAreas() [2/2]

void CObservation2DRangeScan::filterByExclusionAreas

(

const TListExclusionAreasWithRanges &

areas

)

Mark as invalid sensed points that fall within any of a set of "exclusion areas", given in coordinates relative to the vehicle (taking into account "sensorPose"), AND such as the Z coordinate of the point falls in the range [min,max] associated to each exclusion polygon.

See also

C2DRangeFinderAbstract::loadExclusionAreas

Definition at line 261 of file CObservation2DRangeScan.cpp.

References ASSERT_EQUAL_, MRPT_END, and MRPT_START.

getAuxPointsMap()

template<class POINTSMAP >

const POINTSMAP* mrpt::obs::CObservation2DRangeScan::getAuxPointsMap ( ) const

inline

Returns the cached points map representation of the scan, if already build with buildAuxPointsMap(), or nullptr otherwise.

Usage:

   mrpt::maps::CPointsMap *map =
obs->getAuxPointsMap<mrpt::maps::CPointsMap>();

See also

buildAuxPointsMap

Definition at line 166 of file CObservation2DRangeScan.h.

References m_cachedMap.

getClassName()

static constexpr auto mrpt::obs::CObservation2DRangeScan::getClassName ( )

inlinestatic

Definition at line 56 of file CObservation2DRangeScan.h.

getDescriptionAsText()

void CObservation2DRangeScan::getDescriptionAsText ( std::ostream &  o ) const

overridevirtual

Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.

Note

If overried by derived classes, call base CObservation::getDescriptionAsText() first to show common information.

This is the text that appears in RawLogViewer when selecting an object in the dataset

Reimplemented from mrpt::obs::CObservation.

Definition at line 453 of file CObservation2DRangeScan.cpp.

References mrpt::format(), and RAD2DEG.

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getDescriptionAsTextValue()

std::string CObservation::getDescriptionAsTextValue ( ) const

inherited

Return by value version of getDescriptionAsText(std::ostream&)

Definition at line 59 of file CObservation.cpp.

getOriginalReceivedTimeStamp()

virtual mrpt::system::TTimeStamp mrpt::obs::CObservation::getOriginalReceivedTimeStamp ( ) const

inlinevirtualinherited

By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp.

See also

getTimeStamp()

Reimplemented in mrpt::obs::CObservationVelodyneScan, mrpt::obs::CObservationGPS, and mrpt::obs::CObservationRotatingScan.

Definition at line 71 of file CObservation.h.

References mrpt::obs::CObservation::timestamp.

GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::obs::CObservation2DRangeScan::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::obs::CObservation.

GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::obs::CObservation2DRangeScan::GetRuntimeClassIdStatic ( )

static

getScanIntensity() [1/2]

const int32_t & CObservation2DRangeScan::getScanIntensity

(

const size_t

i

)

const

The intensity values of the scan.

If available, must have same length than validRange

Definition at line 513 of file CObservation2DRangeScan.cpp.

References ASSERT_BELOW_.

Referenced by mrpt::obs::CObservationRotatingScan::fromScan2D().

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getScanIntensity() [2/2]

int32_t & CObservation2DRangeScan::getScanIntensity

(

const size_t

i

)

Definition at line 518 of file CObservation2DRangeScan.cpp.

References ASSERT_BELOW_.

getScanProperties()

void CObservation2DRangeScan::getScanProperties

(

T2DScanProperties &

p

)

const

Fill out a T2DScanProperties structure with the parameters of this scan.

Definition at line 437 of file CObservation2DRangeScan.cpp.

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

Referenced by mrpt::obs::CSinCosLookUpTableFor2DScans::getSinCosForScan().

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getScanRange() [1/2]

const float & CObservation2DRangeScan::getScanRange

(

const size_t

i

)

const

The range values of the scan, in meters.

Must have same length than validRange

Definition at line 496 of file CObservation2DRangeScan.cpp.

References ASSERT_BELOW_.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_rayTracing(), mrpt::ros1bridge::convert(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::decimateLaserScan(), mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::obs::CObservation2DRangeScanWithUncertainty::evaluateScanLikelihood(), mrpt::obs::CObservationRotatingScan::fromScan2D(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::detail::loadFromRangeImpl< Derived >::templ_loadFromRangeScan(), and mrpt::ros1bridge::toROS().

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getScanRange() [2/2]

float & CObservation2DRangeScan::getScanRange

(

const size_t

i

)

Definition at line 501 of file CObservation2DRangeScan.cpp.

References ASSERT_BELOW_.

getScanRangeValidity()

bool CObservation2DRangeScan::getScanRangeValidity

(

const size_t

i

)

const

It's false (=0) on no reflected rays, referenced to elements in scan.

Definition at line 529 of file CObservation2DRangeScan.cpp.

References ASSERT_BELOW_.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::decimateLaserScan(), mrpt::obs::CObservation2DRangeScanWithUncertainty::evaluateScanLikelihood(), mrpt::obs::CObservationRotatingScan::fromScan2D(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), FAddUntracedLines::operator()(), and mrpt::maps::detail::loadFromRangeImpl< Derived >::templ_loadFromRangeScan().

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getScanSize()

size_t CObservation2DRangeScan::getScanSize

(

)

const

Get number of scan rays.

Definition at line 557 of file CObservation2DRangeScan.cpp.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_rayTracing(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::decimateLaserScan(), mrpt::obs::CObservation2DRangeScanWithUncertainty::evaluateScanLikelihood(), mrpt::obs::CObservationRotatingScan::fromScan2D(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), FAddUntracedLines::operator()(), mrpt::maps::detail::loadFromRangeImpl< Derived >::templ_loadFromRangeScan(), and mrpt::ros1bridge::toROS().

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getSensorPose() [1/2]

void CObservation::getSensorPose ( mrpt::math::TPose3D &  out_sensorPose ) const

inherited

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See also

setSensorPose

Definition at line 24 of file CObservation.cpp.

References mrpt::poses::CPose3D::asTPose().

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getSensorPose() [2/2]

void mrpt::obs::CObservation2DRangeScan::getSensorPose ( mrpt::poses::CPose3D &  out_sensorPose ) const

inlineoverridevirtual

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See also

setSensorPose

Implements mrpt::obs::CObservation.

Definition at line 205 of file CObservation2DRangeScan.h.

References sensorPose.

getTimeStamp()

mrpt::system::TTimeStamp mrpt::obs::CObservation::getTimeStamp ( ) const

inlineinherited

Returns CObservation::timestamp for all kind of observations.

See also

getOriginalReceivedTimeStamp()

Definition at line 66 of file CObservation.h.

References mrpt::obs::CObservation::timestamp.

hasIntensity()

bool CObservation2DRangeScan::hasIntensity

(

)

const

Return true if scan has intensity.

Definition at line 252 of file CObservation2DRangeScan.cpp.

Referenced by mrpt::obs::CObservationRotatingScan::fromScan2D().

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insertObservationInto()

template<class METRICMAP >

bool mrpt::obs::CObservation::insertObservationInto ( METRICMAP *  theMap, const mrpt::poses::CPose3D *  robotPose = nullptr  ) const

inlineinherited

This method is equivalent to:

map->insertObservation(this, robotPose)

Parameters

theMap	The map where this observation is to be inserted: the map will be updated.
robotPose	The pose of the robot base for this observation, relative to the target metric map. Set to nullptr (default) to use (0,0,0deg)

Returns

Returns true if the map has been updated, or false if this observations has nothing to do with a metric map (for example, a sound observation).

See: Maps and observations compatibility matrix

See also

CMetricMap, CMetricMap::insertObservation

Definition at line 99 of file CObservation.h.

internal_buildAuxPointsMap()

void CObservation2DRangeScan::internal_buildAuxPointsMap ( const void *  options = nullptr ) const

protected

Internal method, used from buildAuxPointsMap()

Definition at line 425 of file CObservation2DRangeScan.cpp.

References mrpt::obs::ptr_internal_build_points_map_from_scan2D.

Referenced by buildAuxPointsMap().

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isPlanarScan()

bool CObservation2DRangeScan::isPlanarScan

(

const double

tolerance = 0

)

const

Return true if the laser scanner is "horizontal", so it has an absolute value of "pitch" and "roll" less or equal to the given tolerance (in rads, default=0) (with the normal vector either upwards or downwards).

Definition at line 247 of file CObservation2DRangeScan.cpp.

Referenced by mrpt::maps::CPointsMap::internal_insertObservation().

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load()

virtual void mrpt::obs::CObservation::load ( ) const

inlinevirtualinherited

Makes sure all images and other fields which may be externally stored are loaded in memory.

Note that for all CImages, calling load() is not required since the images will be automatically loaded upon first access, so load() shouldn't be needed to be called in normal cases by the user. If all the data were alredy loaded or this object has no externally stored data fields, calling this method has no effects.

See also

unload

Reimplemented in mrpt::obs::CObservation3DRangeScan, mrpt::obs::CObservationStereoImages, mrpt::obs::CObservationImage, and mrpt::obs::CObservationPointCloud.

Definition at line 157 of file CObservation.h.

Referenced by mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::internal_build_PointCloud_for_observation().

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loadFromVectors()

void CObservation2DRangeScan::loadFromVectors	(	size_t	nRays,
		const float *	scanRanges,
		const char *	scanValidity
	)

Definition at line 558 of file CObservation2DRangeScan.cpp.

References ASSERT_.

Referenced by mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::decimateLaserScan(), and mrpt::obs::stock_observations::example2DRangeScan().

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resizeScan()

void CObservation2DRangeScan::resizeScan

(

const size_t

len

)

Resizes all data vectors to allocate a given number of scan rays.

Definition at line 541 of file CObservation2DRangeScan.cpp.

Referenced by mrpt::ros1bridge::convert(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::maps::COccupancyGridMap2D::laserScanSimulator(), mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty(), and mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()().

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resizeScanAndAssign()

void CObservation2DRangeScan::resizeScanAndAssign	(	const size_t	len,
		const float	rangeVal,
		const bool	rangeValidity,
		const int32_t	rangeIntensity = 0
	)

Resizes all data vectors to allocate a given number of scan rays and assign default values.

Definition at line 548 of file CObservation2DRangeScan.cpp.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), and mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple().

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serializeFrom() [1/2]

void CObservation2DRangeScan::serializeFrom ( mrpt::serialization::CArchive &  in, uint8_t  serial_version  )

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception

On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 84 of file CObservation2DRangeScan.cpp.

References DEG2RAD, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mrpt::serialization::CArchive::ReadBuffer(), and mrpt::serialization::CArchive::ReadBufferFixEndianness().

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serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase &  in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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serializeGetVersion()

uint8_t CObservation2DRangeScan::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 30 of file CObservation2DRangeScan.cpp.

serializeTo() [1/2]

void CObservation2DRangeScan::serializeTo ( mrpt::serialization::CArchive &  out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception

On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 31 of file CObservation2DRangeScan.cpp.

References ASSERT_EQUAL_, and out.

serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase &  out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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setScanHasIntensity()

void CObservation2DRangeScan::setScanHasIntensity

(

bool

setHasIntensityFlag

)

Marks this scan as having or not intensity data.

Definition at line 253 of file CObservation2DRangeScan.cpp.

Referenced by mrpt::hwdrivers::CHokuyoURG::doProcessSimple().

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setScanIntensity()

void CObservation2DRangeScan::setScanIntensity	(	const size_t	i,
		const int	val
	)

Definition at line 523 of file CObservation2DRangeScan.cpp.

References ASSERT_BELOW_, and val.

Referenced by mrpt::hwdrivers::CHokuyoURG::doProcessSimple().

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setScanRange()

void CObservation2DRangeScan::setScanRange	(	const size_t	i,
		const float	val
	)

Definition at line 507 of file CObservation2DRangeScan.cpp.

References ASSERT_BELOW_, and val.

Referenced by mrpt::ros1bridge::convert(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::maps::COccupancyGridMap2D::laserScanSimulator(), mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty(), mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().

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setScanRangeValidity()

void CObservation2DRangeScan::setScanRangeValidity	(	const size_t	i,
		const bool	val
	)

Definition at line 534 of file CObservation2DRangeScan.cpp.

References ASSERT_BELOW_, and val.

Referenced by mrpt::ros1bridge::convert(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::maps::COccupancyGridMap2D::laserScanSimulator(), mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty(), mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().

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setSensorPose() [1/2]

void CObservation::setSensorPose ( const mrpt::math::TPose3D &  newSensorPose )

inherited

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See also

getSensorPose

Definition at line 31 of file CObservation.cpp.

setSensorPose() [2/2]

void mrpt::obs::CObservation2DRangeScan::setSensorPose ( const mrpt::poses::CPose3D &  newSensorPose )

inlineoverridevirtual

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See also

getSensorPose

Implements mrpt::obs::CObservation.

Definition at line 209 of file CObservation2DRangeScan.h.

References sensorPose.

swap()

void CObservation::swap ( CObservation &  o )

protectedinherited

Swap with another observation, ONLY the data defined here in the base class CObservation.

It's protected since it'll be only called from child classes that should know what else to swap appart from these common data.

Definition at line 36 of file CObservation.cpp.

References mrpt::obs::CObservation::sensorLabel, and mrpt::obs::CObservation::timestamp.

Referenced by mrpt::obs::CObservationStereoImages::swap().

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truncateByDistanceAndAngle()

void CObservation2DRangeScan::truncateByDistanceAndAngle	(	float	min_distance,
		float	max_angle,
		float	min_height = 0,
		float	max_height = 0,
		float	h = 0
	)

A general method to truncate the scan by defining a minimum valid distance and a maximum valid angle as well as minimun and maximum heights (NOTE: the laser z-coordinate must be provided).

Definition at line 56 of file CObservation2DRangeScan.cpp.

References ASSERT_, and mrpt::poses::CPose3D::size().

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unload()

virtual void mrpt::obs::CObservation::unload ( )

inlinevirtualinherited

Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).

See also

load

Reimplemented in mrpt::obs::CObservation3DRangeScan, and mrpt::obs::CObservationPointCloud.

Definition at line 164 of file CObservation.h.

writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns

A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

Member Data Documentation

aperture

float mrpt::obs::CObservation2DRangeScan::aperture {M_PIf}

The "aperture" or field-of-view of the range finder, in radians (typically M_PI = 180 degrees).

Definition at line 114 of file CObservation2DRangeScan.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_rayTracing(), mrpt::ros1bridge::convert(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::obs::stock_observations::example2DRangeScan(), mrpt::obs::CObservationRotatingScan::fromScan2D(), mrpt::maps::COccupancyGridMap2D::laserScanSimulator(), mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), FAddUntracedLines::operator()(), mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), run_rnav_test(), mrpt::ros1bridge::toROS(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().

beamAperture

float mrpt::obs::CObservation2DRangeScan::beamAperture {0}

The aperture of each beam, in radians, used to insert "thick" rays in the occupancy grid.

Definition at line 128 of file CObservation2DRangeScan.h.

Referenced by mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), and mrpt::hwdrivers::CLMS100Eth::decodeScan().

className

constexpr const char* mrpt::obs::CObservation2DRangeScan::className = "mrpt::obs" "::" "CObservation2DRangeScan"

static

Definition at line 56 of file CObservation2DRangeScan.h.

deltaPitch

double mrpt::obs::CObservation2DRangeScan::deltaPitch {0}

If the laser gathers data by sweeping in the pitch/elevation angle, this holds the increment in "pitch" (=-"elevation") between the beginning and the end of the scan (the sensorPose member stands for the pose at the beginning of the scan).

Definition at line 133 of file CObservation2DRangeScan.h.

Referenced by FAddUntracedLines::operator()(), mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().

m_cachedMap

mrpt::maps::CMetricMap::Ptr mrpt::obs::CObservation2DRangeScan::m_cachedMap

mutableprotected

A points map, build only under demand by the methods getAuxPointsMap() and buildAuxPointsMap().

It's a generic smart pointer to avoid depending here in the library mrpt-obs on classes on other libraries.

Definition at line 151 of file CObservation2DRangeScan.h.

Referenced by buildAuxPointsMap(), and getAuxPointsMap().

m_has_intensity

bool mrpt::obs::CObservation2DRangeScan::m_has_intensity {false}

private

Whether the intensity values are present or not.

If not, space is saved during serialization.

Definition at line 71 of file CObservation2DRangeScan.h.

m_intensity

mrpt::aligned_std_vector<int32_t> mrpt::obs::CObservation2DRangeScan::m_intensity

private

The intensity values of the scan.

If available, must have same length than validRange

Definition at line 65 of file CObservation2DRangeScan.h.

m_scan

mrpt::aligned_std_vector<float> mrpt::obs::CObservation2DRangeScan::m_scan

private

The range values of the scan, in meters.

Must have same length than validRange

Definition at line 62 of file CObservation2DRangeScan.h.

m_validRange

mrpt::aligned_std_vector<char> mrpt::obs::CObservation2DRangeScan::m_validRange

private

It's false (=0) on no reflected rays, referenced to elements in scan.

Definition at line 68 of file CObservation2DRangeScan.h.

maxRange

float mrpt::obs::CObservation2DRangeScan::maxRange {80.0f}

The maximum range allowed by the device, in meters (e.g.

80m, 50m,...)

Definition at line 119 of file CObservation2DRangeScan.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_rayTracing(), mrpt::ros1bridge::convert(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::obs::CObservation2DRangeScanWithUncertainty::evaluateScanLikelihood(), mrpt::obs::CObservationRotatingScan::fromScan2D(), mrpt::maps::COccupancyGridMap2D::laserScanSimulator(), mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty(), mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), run_rnav_test(), mrpt::ros1bridge::toROS(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().

rightToLeft

bool mrpt::obs::CObservation2DRangeScan::rightToLeft {true}

The scanning direction: true=counterclockwise; false=clockwise.

Definition at line 116 of file CObservation2DRangeScan.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_rayTracing(), mrpt::ros1bridge::convert(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::obs::stock_observations::example2DRangeScan(), mrpt::obs::CObservationRotatingScan::fromScan2D(), mrpt::maps::COccupancyGridMap2D::laserScanSimulator(), mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), FAddUntracedLines::operator()(), mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().

runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::obs::CObservation2DRangeScan::runtimeClassId

staticprotected

Definition at line 56 of file CObservation2DRangeScan.h.

sensorLabel

std::string mrpt::obs::CObservation::sensorLabel

inherited

An arbitrary label that can be used to identify the sensor.

Definition at line 62 of file CObservation.h.

Referenced by mrpt::ros1bridge::convert(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::hwdrivers::CRaePID::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::apps::RawlogGrabberApp::dump_GPS_mode_info(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::obs::CObservationRotatingScan::fromScan2D(), mrpt::obs::CObservationRotatingScan::fromVelodyne(), mrpt::hwdrivers::CRaePID::getFullInfo(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CWirelessPower::getObservation(), mrpt::hwdrivers::CImpinjRFID::getObservation(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::obs::CObservation6DFeatures::serializeFrom(), mrpt::obs::CObservationPointCloud::serializeFrom(), mrpt::obs::CObservation6DFeatures::serializeTo(), mrpt::obs::CObservationPointCloud::serializeTo(), mrpt::obs::CObservation::swap(), and mrpt::ros1bridge::toROS().

sensorPose

mrpt::poses::CPose3D mrpt::obs::CObservation2DRangeScan::sensorPose

The 6D pose of the sensor on the robot at the moment of starting the scan.

Definition at line 122 of file CObservation2DRangeScan.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_rayTracing(), mrpt::ros1bridge::convert(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::obs::CObservationRotatingScan::fromScan2D(), getSensorPose(), mrpt::maps::COccupancyGridMap3D::internal_insertObservationScan2D(), mrpt::maps::COccupancyGridMap2D::laserScanSimulator(), mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), FAddUntracedLines::operator()(), mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), run_rnav_test(), setSensorPose(), mrpt::maps::detail::loadFromRangeImpl< Derived >::templ_loadFromRangeScan(), mrpt::ros1bridge::toROS(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().

stdError

float mrpt::obs::CObservation2DRangeScan::stdError {0.01f}

The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid.

Definition at line 125 of file CObservation2DRangeScan.h.

Referenced by mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), and mrpt::obs::CObservation2DRangeScanWithUncertainty::evaluateScanLikelihood().

timestamp

mrpt::system::TTimeStamp mrpt::obs::CObservation::timestamp {mrpt::system::now()}

inherited

The associated UTC time-stamp.

Where available, this should contain the accurate satellite-based timestamp of the sensor reading.

See also

getOriginalReceivedTimeStamp(), getTimeStamp()

Definition at line 60 of file CObservation.h.

Referenced by mrpt::ros1bridge::convert(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CSICKTim561Eth::decodeScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::detectors::CObjectDetection::detectObjects(), mrpt::hwdrivers::CRaePID::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::ros1bridge::fromROS(), mrpt::obs::CObservationRotatingScan::fromScan2D(), mrpt::obs::CObservationRotatingScan::fromVelodyne(), mrpt::hwdrivers::CRaePID::getFullInfo(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::COpenNI2_RGBD360::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CWirelessPower::getObservation(), mrpt::hwdrivers::CImageGrabber_OpenCV::getObservation(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CImageGrabber_dc1394::getObservation(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::hwdrivers::CDUO3DCamera::getObservations(), mrpt::obs::CObservation::getOriginalReceivedTimeStamp(), mrpt::obs::CObservation::getTimeStamp(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::hwdrivers::CGPSInterface::parse_NMEA(), mrpt::apps::KFSLAMApp::Run_KF_SLAM(), mrpt::obs::CObservation6DFeatures::serializeFrom(), mrpt::obs::CObservationPointCloud::serializeFrom(), mrpt::obs::CObservation6DFeatures::serializeTo(), mrpt::obs::CObservationPointCloud::serializeTo(), mrpt::maps::CLandmarksMap::simulateBeaconReadings(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), mrpt::obs::CObservation::swap(), mrpt::ros1bridge::toROS(), and velodyne_scan_to_pointcloud().