class mrpt::obs::CObservationReflectivity
Declares a class derived from “CObservation” that encapsules a single short-range reflectivity measurement.
This can be used for example to store readings from IR sensors (Lego Mindstorm NXT, etc…).
See also:
mrpt::obs::CReflectivityGridMap2D, CObservation
#include <mrpt/obs/CObservationReflectivity.h> class CObservationReflectivity: public mrpt::obs::CObservation { public: // fields float reflectivityLevel {0.5f}; int16_t channel {-1}; mrpt::poses::CPose3D sensorPose; float sensorStdNoise {0.2f}; // methods virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const; virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose); virtual void getDescriptionAsText(std::ostream& o) const; virtual bool exportTxtSupported() const; virtual std::string exportTxtHeader() const; virtual std::string exportTxtDataRow() 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; void load() const; virtual void unload() const; virtual bool exportTxtSupported() const; virtual std::string exportTxtHeader() const; virtual std::string exportTxtDataRow() const; template <class METRICMAP> bool insertObservationInto( METRICMAP& theMap, const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt ) const; virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const = 0; void getSensorPose(mrpt::math::TPose3D& out_sensorPose) const; mrpt::math::TPose3D 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; virtual std::string asString() const;
Fields
float reflectivityLevel {0.5f}
The read reflectivity level, in the range [0,1] (0=black, 1=white).
int16_t channel {-1}
The channel for this observation.
If channel=-1, it can be inserted into any CReflectivityGridMap2D. Otherwise, it can only be inserted into reflectivity maps with the same channel. (Default=-1)
mrpt::poses::CPose3D sensorPose
The pose of this sensor in robot’s local coordinates.
float sensorStdNoise {0.2f}
1-sigma of the sensor Gaussian noise (in the same normalized units than reflectivityLevel)
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.
Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.
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
virtual bool exportTxtSupported() const
Must return true if the class is exportable to TXT/CSV files, in which case the other virtual methods in this group must be redefined too.
virtual std::string exportTxtHeader() const
Returns the description of the data columns.
Timestamp is automatically included as the first column, do not list it. See example implementations if interested in enabling this in custom CObservation classes. Do not include newlines.
virtual std::string exportTxtDataRow() const
Returns one row of data with the data stored in this particular object.
Do not include newlines.