CObservationRange.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 CObservationRange_H
#define CObservationRange_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/obs/CObservation.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose2D.h>

namespace mrpt
{
namespace obs
{
/** Declares a class derived from "CObservation" that
           encapsules a single range measurement, and associated parameters. This
 can be used
 *     for example to store measurements from infrared proximity sensors (IR) or
 ultrasonic sensors (sonars).
 *
 * \sa CObservation
 * \ingroup mrpt_obs_grp
 */
class CObservationRange : public CObservation
{
        DEFINE_SERIALIZABLE(CObservationRange)

   public:
        /** Default constructor.
         */
        CObservationRange();

        /** The data members
         */
        float minSensorDistance;
        float maxSensorDistance;
        /** Cone aperture of each ultrasonic beam, in radians. */
        float sensorConeApperture;

        struct TMeasurement
        {
                TMeasurement() : sensorID(0), sensorPose(), sensedDistance(0) {}
                /** Some kind of sensor ID which identifies it on the bus (if
                 * applicable, 0 otherwise)
                  */
                uint16_t sensorID;

                /** The 6D position of the sensor on the robot.
                  */
                math::TPose3D sensorPose;

                /** The measured range, in meters (or a value of 0 if there was no
                 * detected echo).
                  */
                float sensedDistance;
        };

        typedef std::deque<TMeasurement> TMeasurementList;
        typedef std::deque<TMeasurement>::const_iterator const_iterator;
        typedef std::deque<TMeasurement>::iterator iterator;

        /** All the measurements */
        TMeasurementList sensedData;

        iterator begin() { return sensedData.begin(); }
        iterator end() { return sensedData.end(); }
        const_iterator begin() const { return sensedData.begin(); }
        const_iterator end() const { return sensedData.end(); }
        // See base class docs
        void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const override;
        void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) override;
        void getDescriptionAsText(std::ostream& o) const override;

};  // End of class def.
}  // End of namespace
}  // End of namespace
#endif