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;

    // construction

    CObservationBeaconRanges();

    //
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);
    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;
    virtual bool exportTxtSupported() const;
    virtual std::string exportTxtHeader() const;
    virtual std::string exportTxtDataRow() const;
    virtual void load() const;
    virtual void unload() 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 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)

Construction

CObservationBeaconRanges()

ctor

Default constructor.

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.

See also:

getSensorPose

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

float getSensedRangeByBeaconID(int32_t beaconID)

Easy look-up into the vector sensedData, returns the range for a given beacon, or 0 if the beacon is not observed.

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.