CObservation6DFeatures.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef CObservation6DFeatures_H
#define CObservation6DFeatures_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/obs/CObservation.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/utils/aligned_containers.h>

namespace mrpt
{
namespace obs
{
/** An observation of one or more "features" or "objects", possibly identified
 * with a unique ID, whose relative SE(3) pose is observed with respect to the
 * sensor.
 * The list of features is stored in \a sensedFeatures
 * \sa CObservation
 * \ingroup mrpt_obs_grp
 */
class CObservation6DFeatures : public CObservation
{
        DEFINE_SERIALIZABLE(CObservation6DFeatures)
   public:
        /** Default ctor */
        CObservation6DFeatures();

        /** Information about the sensor */
        float minSensorDistance, maxSensorDistance;

        /** Each one of the measurements */
        struct TMeasurement
        {
                /** The observed feature SE(3) pose with respect to the sensor */
                mrpt::poses::CPose3D pose;
                /** The feature ID, or INVALID_LANDMARK_ID if unidentified (default) */
                int32_t id;
                /** The inverse of the observation covariance matrix (default:all zeros)
                 */
                mrpt::math::CMatrixDouble66 inf_matrix;

                /** Ctor with default values */
                TMeasurement();

                MRPT_MAKE_ALIGNED_OPERATOR_NEW  // Required because we contain Eigen
                // matrices
        };
        /** The list of observed features */
        mrpt::aligned_containers<TMeasurement>::deque_t sensedFeatures;

        /** The pose of the sensor on the robot/vehicle */
        mrpt::poses::CPose3D sensorPose;

        void getSensorPose(mrpt::poses::CPose3D& out_sensorPose)
                const override;  // See base class docs.
        void setSensorPose(const mrpt::poses::CPose3D& newSensorPose)
                override;  // See base class docs.
        void getDescriptionAsText(
                std::ostream& o) const override;  // See base class docs

};  // End of class def.

}  // End of namespace
}  // End of namespace

#endif