class mrpt::obs::CObservationBeaconRanges¶

Declares a class derived from “CObservation” that represents one (or more) range measurements to labeled beacons.

See also:

#include <mrpt/obs/CObservationBeaconRanges.h>

class CObservationBeaconRanges: public mrpt::obs::CObservation
{
public:
    // structs

    struct TMeasurement;

    //
fields

    float minSensorDistance {0};
    float maxSensorDistance {1e2f};
    float stdError {1e-2f};
    std::deque<TMeasurement> sensedData;
    mrpt::poses::CPose2D auxEstimatePose;

    //
methods

    void debugPrintOut();
    virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const;
    virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose);
    virtual void getDescriptionAsText(std::ostream& o) const;
    float getSensedRangeByBeaconID(int32_t beaconID);
};

Inherited Members¶

public:
    //
fields

    mrpt::system::TTimeStamp timestamp {mrpt::system::now()};
    std::string sensorLabel;

    //
methods

    mrpt::system::TTimeStamp getTimeStamp() const;
    virtual mrpt::system::TTimeStamp getOriginalReceivedTimeStamp() const;
    virtual void load() const;
    virtual void unload();

    template <class METRICMAP>
    bool insertObservationInto(
        METRICMAP* theMap,
        const mrpt::poses::CPose3D* robotPose = nullptr
        ) const;

    virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const = 0;
    void getSensorPose(mrpt::math::TPose3D& out_sensorPose) const;
    virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) = 0;
    void setSensorPose(const mrpt::math::TPose3D& newSensorPose);
    virtual void getDescriptionAsText(std::ostream& o) const;
    std::string getDescriptionAsTextValue() const;

Fields¶

float minSensorDistance {0}

Info about sensor.

float stdError {1e-2f}

The “sigma” of the sensor, assuming a zero-mean Gaussian noise model.

std::deque<TMeasurement> sensedData

The list of observed ranges.

mrpt::poses::CPose2D auxEstimatePose

The (X,Y,PHI) pose estimated by the UWB software, for comparison purposes (Added in streamming version 1)

Methods¶

void debugPrintOut()

Prints out the contents of the object.

virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const

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.