class mrpt::obs::CObservationRFID¶
This represents one or more RFID tags observed by a receiver.
See also:
CObservation, mrpt::hwdrivers::CImpinjRFID for a software sensor capable of reading this kind of observations.
#include <mrpt/obs/CObservationRFID.h> class CObservationRFID: public mrpt::obs::CObservation { public: // structs struct TTagReading; // fields mrpt::poses::CPose3D sensorPoseOnRobot; std::vector<TTagReading> tag_readings; // methods uint32_t getNtags() const; virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const; virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose); virtual void getDescriptionAsText(std::ostream& o) const; };
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¶
mrpt::poses::CPose3D sensorPoseOnRobot
The location of the sensing antenna on the robot coordinate framework.
std::vector<TTagReading> tag_readings
The vector of individual tag observations.
Methods¶
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.
See also:
virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose)
A general method to change the sensor pose on the robot.
It has no effects in this class
See also:
virtual void getDescriptionAsText(std::ostream& o) const
Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.
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