mrpt::obs::CObservation Class Reference

Detailed Description

Declares a class that represents any robot's observation.

This is a base class for many types of sensor observations. Users can add new observation types creating a new class deriving from this one.

IMPORTANT: Observations don't include any information about the robot pose, just raw sensory data and, where aplicable, information about the sensor position and orientation in the local frame of the robot.

See also

CSensoryFrame, CMetricMap

Definition at line 41 of file CObservation.h.

#include <mrpt/obs/CObservation.h>

Inheritance diagram for mrpt::obs::CObservation:

Public Member Functions
	CObservation ()
	Constructor: It sets the initial timestamp to current time. More...
template<class METRICMAP >
bool	insertObservationInto (METRICMAP *theMap, const mrpt::poses::CPose3D *robotPose=nullptr) const
	This method is equivalent to: More...
virtual void	getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const =0
	A general method to retrieve the sensor pose on the robot. More...
void	getSensorPose (mrpt::math::TPose3D &out_sensorPose) const
	A general method to retrieve the sensor pose on the robot. More...
virtual void	setSensorPose (const mrpt::poses::CPose3D &newSensorPose)=0
	A general method to change the sensor pose on the robot. More...
void	setSensorPose (const mrpt::math::TPose3D &newSensorPose)
	A general method to change the sensor pose on the robot. More...
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. More...
virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
virtual CObject *	clone () const =0
	Returns a deep copy (clone) of the object, indepently of its class. More...
Delayed-load manual control methods.
virtual void	load () const
	Makes sure all images and other fields which may be externally stored are loaded in memory. More...
virtual void	unload ()
	Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect). More...
RTTI classes and functions
mrpt::utils::CObject::Ptr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Protected Member Functions
void	swap (CObservation &o)
	Swap with another observation, ONLY the data defined here in the base class CObservation. More...
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream. More...
virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

RTTI stuff
using	Ptr = std::shared_ptr< CObservation >
using	ConstPtr = std::shared_ptr< const CObservation >
static const mrpt::utils::TRuntimeClassId	runtimeClassId
class	mrpt::utils::CStream
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...
static const mrpt::utils::TRuntimeClassId &	GetRuntimeClassIdStatic ()

Data common to any observation
mrpt::system::TTimeStamp	timestamp
	The associated UTC time-stamp. More...
std::string	sensorLabel
	An arbitrary label that can be used to identify the sensor. More...
mrpt::system::TTimeStamp	getTimeStamp () const
	Returns CObservation::timestamp for all kind of observations. More...
virtual mrpt::system::TTimeStamp	getOriginalReceivedTimeStamp () const
	By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp. More...

Member Typedef Documentation

ConstPtr

using mrpt::obs::CObservation::ConstPtr = std::shared_ptr<const CObservation >

Definition at line 43 of file CObservation.h.

Ptr

using mrpt::obs::CObservation::Ptr = std::shared_ptr< CObservation >

Definition at line 43 of file CObservation.h.

Constructor & Destructor Documentation

CObservation()

CObservation::CObservation

(

)

Constructor: It sets the initial timestamp to current time.

Definition at line 30 of file CObservation.cpp.

Member Function Documentation

_GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservation::_GetBaseClass ( )

staticprotected

clone()

virtual CObject* mrpt::utils::CObject::clone ( ) const

pure virtualinherited

Returns a deep copy (clone) of the object, indepently of its class.

Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::maps::CMultiMetricMap, mrpt::utils::CSimpleDatabase, mrpt::utils::CImage, mrpt::obs::CObservationIMU, mrpt::maps::TMapGenericParams, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CMultiMetricMapPDF, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::obs::CObservationVelodyneScan, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::opengl::COctoMapVoxels, mrpt::kinematics::CKinematicChain, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservationGPS, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::vision::CFeature, mrpt::nav::CHolonomicND, mrpt::obs::CObservation2DRangeScan, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::opengl::CPointCloud, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::poses::CPose3DQuat, mrpt::pbmap::Plane, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::detectors::CDetectable2D, mrpt::hmtslam::CLSLAMParticleData, mrpt::maps::CBeaconMap, mrpt::poses::CPose3DRotVec, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPointPDFParticles, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CPolyhedron, mrpt::poses::CPose3DPDFGaussianInf, mrpt::maps::CReflectivityGridMap2D, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::maps::CBeacon, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CBox, mrpt::poses::CPose2D, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DPDFGaussian, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::utils::CMHPropertiesValuesList, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPosePDFGaussianInf, mrpt::maps::CHeightGridMap2D_MRF, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::opengl::CColorBar, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::opengl::CSetOfLines, mrpt::maps::CLandmark, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::COctoMap, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationBatteryState, mrpt::opengl::CDisk, mrpt::poses::CPoint3D, mrpt::utils::CStringList, mrpt::utils::TCamera, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPosePDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::maps::CSimplePointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::slam::CIncrementalMapPartitioner, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::obs::CObservationRange, mrpt::opengl::CSetOfObjects, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CSplineInterpolator1D, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CMultiObjMotionOpt_Scalarization, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPosePDFGrid, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::math::CMatrixD, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::opengl::C3DSScene, mrpt::opengl::COpenGLStandardObject, mrpt::math::CMatrix, mrpt::poses::CPointPDFGaussian, mrpt::utils::TStereoCamera, mrpt::opengl::CSetOfTriangles, mrpt::math::CMatrixB, mrpt::poses::TSimple3DPoint, mrpt::utils::CMemoryChunk, mrpt::utils::CPropertiesValuesList, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::math::CPolygon, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::CSimpleDatabaseTable, mrpt::utils::CTypeSelector, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::kinematics::CVehicleVelCmd_DiffDriven, and mrpt::kinematics::CVehicleVelCmd_Holo.

Referenced by mrpt::utils::CObject::duplicateGetSmartPtr(), mrpt::maps::CSimpleMap::insert(), mrpt::obs::CActionCollection::insert(), and mrpt::poses::CPoseRandomSampler::setPosePDF().

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getDescriptionAsText()

void CObservation::getDescriptionAsText ( std::ostream &  o ) const

virtual

Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.

Note

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

Reimplemented in mrpt::obs::CObservation3DRangeScan, mrpt::obs::CObservationVelodyneScan, mrpt::obs::CObservation2DRangeScan, mrpt::obs::CObservationGPS, mrpt::obs::CObservationIMU, mrpt::obs::CObservationRGBD360, mrpt::obs::CObservationStereoImages, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationStereoImagesFeatures, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservationSkeleton, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationRange, mrpt::obs::CObservationImage, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationVisualLandmarks, mrpt::obs::CObservationBatteryState, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationRFID, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationWindSensor, mrpt::obs::CObservationWirelessPower, mrpt::obs::CObservationComment, and mrpt::obs::CObservationRobotPose.

Definition at line 49 of file CObservation.cpp.

References mrpt::system::dateTimeToString(), and mrpt::system::timestampTotime_t().

Referenced by mrpt::obs::CObservationRobotPose::getDescriptionAsText(), mrpt::obs::CObservationComment::getDescriptionAsText(), mrpt::obs::CObservationWirelessPower::getDescriptionAsText(), mrpt::obs::CObservationWindSensor::getDescriptionAsText(), mrpt::obs::CObservationOdometry::getDescriptionAsText(), mrpt::obs::CObservationReflectivity::getDescriptionAsText(), mrpt::obs::CObservation6DFeatures::getDescriptionAsText(), mrpt::obs::CObservationRFID::getDescriptionAsText(), mrpt::obs::CObservationBatteryState::getDescriptionAsText(), mrpt::obs::CObservationVisualLandmarks::getDescriptionAsText(), mrpt::obs::CObservationBeaconRanges::getDescriptionAsText(), mrpt::obs::CObservationCANBusJ1939::getDescriptionAsText(), mrpt::obs::CObservationImage::getDescriptionAsText(), mrpt::obs::CObservationRange::getDescriptionAsText(), mrpt::obs::CObservationGasSensors::getDescriptionAsText(), mrpt::obs::CObservationSkeleton::getDescriptionAsText(), mrpt::obs::CObservationRawDAQ::getDescriptionAsText(), mrpt::obs::CObservationStereoImagesFeatures::getDescriptionAsText(), mrpt::obs::CObservationBearingRange::getDescriptionAsText(), mrpt::obs::CObservationStereoImages::getDescriptionAsText(), mrpt::obs::CObservationIMU::getDescriptionAsText(), mrpt::obs::CObservation2DRangeScan::getDescriptionAsText(), mrpt::obs::CObservationVelodyneScan::getDescriptionAsText(), and mrpt::obs::CObservation3DRangeScan::getDescriptionAsText().

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getOriginalReceivedTimeStamp()

virtual mrpt::system::TTimeStamp mrpt::obs::CObservation::getOriginalReceivedTimeStamp ( ) const

inlinevirtual

By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp.

See also

getTimeStamp()

Reimplemented in mrpt::obs::CObservationGPS, and mrpt::obs::CObservationVelodyneScan.

Definition at line 69 of file CObservation.h.

References timestamp.

GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservation::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

Reimplemented in mrpt::obs::CObservation3DRangeScan, mrpt::obs::CObservationIMU, mrpt::obs::CObservationRGBD360, mrpt::obs::CObservationVelodyneScan, mrpt::obs::CObservationGPS, mrpt::obs::CObservation2DRangeScan, mrpt::obs::CObservationStereoImages, mrpt::obs::CObservationStereoImagesFeatures, mrpt::obs::CObservationImage, mrpt::obs::CObservationBatteryState, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::obs::CObservationRange, mrpt::obs::CObservationWirelessPower, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::obs::CObservationVisualLandmarks, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::obs::CObservationCANBusJ1939, and mrpt::obs::CObservationRobotPose.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_Consensus(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_ConsensusOWA(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_likelihoodField_II(), mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_rayTracing(), mrpt::maps::COccupancyGridMap2D::internal_canComputeObservationLikelihood(), mrpt::maps::CBeaconMap::internal_computeObservationLikelihood(), mrpt::maps::CLandmarksMap::internal_computeObservationLikelihood(), mrpt::maps::CPointsMap::internal_computeObservationLikelihood(), mrpt::maps::COccupancyGridMap2D::internal_computeObservationLikelihood(), mrpt::maps::CBeaconMap::internal_insertObservation(), mrpt::maps::CLandmarksMap::internal_insertObservation(), and mrpt::maps::COccupancyGridMap2D::internal_insertObservation().

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GetRuntimeClassIdStatic()

static const mrpt::utils::TRuntimeClassId& mrpt::obs::CObservation::GetRuntimeClassIdStatic ( )

static

getSensorPose() [1/2]

virtual void mrpt::obs::CObservation::getSensorPose ( mrpt::poses::CPose3D &  out_sensorPose ) const

pure virtual

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

setSensorPose

Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::obs::CObservationVelodyneScan, mrpt::obs::CObservation2DRangeScan, mrpt::obs::CObservationGPS, mrpt::obs::CObservationIMU, mrpt::obs::CObservationRGBD360, mrpt::obs::CObservationStereoImages, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationStereoImagesFeatures, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationSkeleton, mrpt::obs::CObservationRange, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationImage, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationBatteryState, mrpt::obs::CObservationVisualLandmarks, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationRFID, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationWindSensor, mrpt::obs::CObservationWirelessPower, mrpt::obs::CObservationComment, and mrpt::obs::CObservationRobotPose.

getSensorPose() [2/2]

void CObservation::getSensorPose

(

mrpt::math::TPose3D &

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

setSensorPose

Definition at line 31 of file CObservation.cpp.

getTimeStamp()

mrpt::system::TTimeStamp mrpt::obs::CObservation::getTimeStamp ( ) const

inline

Returns CObservation::timestamp for all kind of observations.

See also

getOriginalReceivedTimeStamp()

Definition at line 64 of file CObservation.h.

References timestamp.

insertObservationInto()

template<class METRICMAP >

bool mrpt::obs::CObservation::insertObservationInto ( METRICMAP *  theMap, const mrpt::poses::CPose3D *  robotPose = nullptr  ) const

inline

This method is equivalent to:

map->insertObservation(this, robotPose)

Parameters

theMap	The map where this observation is to be inserted: the map will be updated.
robotPose	The pose of the robot base for this observation, relative to the target metric map. Set to nullptr (default) to use (0,0,0deg)

Returns

Returns true if the map has been updated, or false if this observations has nothing to do with a metric map (for example, a sound observation).

See: Maps and observations compatibility matrix

See also

CMetricMap, CMetricMap::insertObservation

Definition at line 96 of file CObservation.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference().

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load()

virtual void mrpt::obs::CObservation::load ( ) const

inlinevirtual

Makes sure all images and other fields which may be externally stored are loaded in memory.

Note that for all CImages, calling load() is not required since the images will be automatically loaded upon first access, so load() shouldn't be needed to be called in normal cases by the user. If all the data were alredy loaded or this object has no externally stored data fields, calling this method has no effects.

See also

unload

Reimplemented in mrpt::obs::CObservation3DRangeScan.

Definition at line 151 of file CObservation.h.

readFromStream()

virtual void mrpt::utils::CSerializable::readFromStream ( mrpt::utils::CStream &  in, int  version  )

protectedpure virtualinherited

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception

On any error, see CStream::ReadBuffer

See also

CStream

Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::maps::CMultiMetricMap, mrpt::utils::CSimpleDatabase, mrpt::utils::CImage, mrpt::obs::CObservationIMU, mrpt::maps::TMapGenericParams, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CMultiMetricMapPDF, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::obs::CObservationVelodyneScan, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::opengl::COctoMapVoxels, mrpt::kinematics::CKinematicChain, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservationGPS, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::vision::CFeature, mrpt::nav::CHolonomicND, mrpt::obs::CObservation2DRangeScan, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::opengl::CPointCloud, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::poses::CPose3DQuat, mrpt::pbmap::Plane, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::detectors::CDetectable2D, mrpt::hmtslam::CLSLAMParticleData, mrpt::maps::CBeaconMap, mrpt::poses::CPose3DRotVec, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPointPDFParticles, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CPolyhedron, mrpt::poses::CPose3DPDFGaussianInf, mrpt::maps::CReflectivityGridMap2D, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::maps::CBeacon, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CBox, mrpt::poses::CPose2D, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DPDFGaussian, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::utils::CMHPropertiesValuesList, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPosePDFGaussianInf, mrpt::maps::CHeightGridMap2D_MRF, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::opengl::CColorBar, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::opengl::CSetOfLines, mrpt::maps::CLandmark, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::COctoMap, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationBatteryState, mrpt::opengl::CDisk, mrpt::poses::CPoint3D, mrpt::utils::CStringList, mrpt::utils::TCamera, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPosePDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::maps::CSimplePointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::slam::CIncrementalMapPartitioner, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::obs::CObservationRange, mrpt::opengl::CSetOfObjects, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CSplineInterpolator1D, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPosePDFGrid, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::math::CMatrixD, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::opengl::C3DSScene, mrpt::opengl::COpenGLStandardObject, mrpt::math::CMatrix, mrpt::poses::CPointPDFGaussian, mrpt::utils::TStereoCamera, mrpt::opengl::CSetOfTriangles, mrpt::math::CMatrixB, mrpt::poses::TSimple3DPoint, mrpt::utils::CMemoryChunk, mrpt::utils::CPropertiesValuesList, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::math::CPolygon, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::CSimpleDatabaseTable, mrpt::utils::CTypeSelector, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::kinematics::CVehicleVelCmd_DiffDriven, and mrpt::kinematics::CVehicleVelCmd_Holo.

setSensorPose() [1/2]

virtual void mrpt::obs::CObservation::setSensorPose ( const mrpt::poses::CPose3D &  newSensorPose )

pure virtual

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

getSensorPose

Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::obs::CObservationVelodyneScan, mrpt::obs::CObservation2DRangeScan, mrpt::obs::CObservationGPS, mrpt::obs::CObservationIMU, mrpt::obs::CObservationRGBD360, mrpt::obs::CObservationStereoImages, mrpt::obs::CObservationStereoImagesFeatures, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservationSkeleton, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationRange, mrpt::obs::CObservationImage, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationBatteryState, mrpt::obs::CObservationVisualLandmarks, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationRFID, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationWindSensor, mrpt::obs::CObservationWirelessPower, mrpt::obs::CObservationComment, and mrpt::obs::CObservationRobotPose.

setSensorPose() [2/2]

void CObservation::setSensorPose

(

const mrpt::math::TPose3D &

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

getSensorPose

Definition at line 38 of file CObservation.cpp.

swap()

void CObservation::swap ( CObservation &  o )

protected

Swap with another observation, ONLY the data defined here in the base class CObservation.

It's protected since it'll be only called from child classes that should know what else to swap appart from these common data.

Definition at line 43 of file CObservation.cpp.

References sensorLabel, and timestamp.

Referenced by mrpt::obs::CObservationStereoImages::swap(), and mrpt::obs::CObservation3DRangeScan::swap().

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unload()

virtual void mrpt::obs::CObservation::unload ( )

inlinevirtual

Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).

See also

load

Reimplemented in mrpt::obs::CObservation3DRangeScan.

Definition at line 156 of file CObservation.h.

writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns

A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 89 of file CSerializable.h.

writeToStream()

virtual void mrpt::utils::CSerializable::writeToStream ( mrpt::utils::CStream &  out, int *  getVersion  ) const

protectedpure virtualinherited

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If nullptr, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception

On any error, see CStream::WriteBuffer

See also

CStream

Implemented in mrpt::obs::CObservation3DRangeScan, mrpt::nav::CLogFileRecord_ND, mrpt::nav::CLogFileRecord_FullEval, mrpt::maps::CMultiMetricMap, mrpt::utils::CSimpleDatabase, mrpt::utils::CImage, mrpt::obs::CObservationIMU, mrpt::maps::TMapGenericParams, mrpt::poses::CPose3D, mrpt::obs::CObservationRGBD360, mrpt::maps::CRandomFieldGridMap3D, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::maps::CMultiMetricMapPDF, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::obs::CObservationVelodyneScan, mrpt::maps::CLandmarksMap, mrpt::hmtslam::CHMTSLAM, mrpt::opengl::COctoMapVoxels, mrpt::kinematics::CKinematicChain, mrpt::maps::COccupancyGridMap2D, mrpt::obs::CObservationGPS, mrpt::obs::CRawlog, mrpt::opengl::COpenGLViewport, mrpt::maps::CHeightGridMap2D, mrpt::opengl::COpenGLScene, mrpt::opengl::CPlanarLaserScan, mrpt::nav::CHolonomicFullEval, mrpt::vision::CFeature, mrpt::nav::CHolonomicND, mrpt::obs::CObservation2DRangeScan, mrpt::obs::CSensoryFrame, mrpt::opengl::CFrustum, mrpt::poses::CPose2DInterpolator, mrpt::poses::CPose3DInterpolator, mrpt::nav::CHolonomicVFF, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::opengl::CPointCloud, mrpt::opengl::CPointCloudColoured, mrpt::pbmap::PbMap, mrpt::poses::CPose3DQuat, mrpt::pbmap::Plane, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::detectors::CDetectable2D, mrpt::hmtslam::CLSLAMParticleData, mrpt::maps::CBeaconMap, mrpt::poses::CPose3DRotVec, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::poses::CPointPDFParticles, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CPolyhedron, mrpt::poses::CPose3DPDFGaussianInf, mrpt::maps::CReflectivityGridMap2D, mrpt::obs::CObservationStereoImages, mrpt::opengl::CAssimpModel, mrpt::maps::CBeacon, mrpt::nav::CPTG_DiffDrive_C, mrpt::opengl::CBox, mrpt::poses::CPose2D, mrpt::opengl::CMeshFast, mrpt::poses::CPose3DPDFGaussian, mrpt::hmtslam::CHMHMapNode, mrpt::hmtslam::CRobotPosesGraph, mrpt::obs::CObservationStereoImagesFeatures, mrpt::opengl::CMesh, mrpt::utils::CMHPropertiesValuesList, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::poses::CPosePDFGaussianInf, mrpt::maps::CHeightGridMap2D_MRF, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::maps::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::hmtslam::CHMHMapArc, mrpt::opengl::CColorBar, mrpt::opengl::CVectorField2D, mrpt::poses::CPose3DPDFSOG, mrpt::maps::CGasConcentrationGridMap2D, mrpt::maps::CWirelessPowerGridMap2D, mrpt::maps::CSimpleMap, mrpt::obs::CObservationImage, mrpt::opengl::CSetOfLines, mrpt::maps::CLandmark, mrpt::hmtslam::CHierarchicalMHMap, mrpt::maps::COctoMap, mrpt::obs::CActionRobotMovement2D, mrpt::obs::CObservationBatteryState, mrpt::opengl::CDisk, mrpt::poses::CPoint3D, mrpt::utils::CStringList, mrpt::utils::TCamera, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPosePDFGaussian, mrpt::maps::CColouredOctoMap, mrpt::maps::CSimplePointsMap, mrpt::nav::CLogFileRecord, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationWindSensor, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::slam::CIncrementalMapPartitioner, mrpt::maps::CColouredPointsMap, mrpt::maps::CWeightedPointsMap, mrpt::obs::CObservationRange, mrpt::opengl::CSetOfObjects, mrpt::obs::CActionCollection, mrpt::obs::CActionRobotMovement3D, mrpt::obs::CObservationWirelessPower, mrpt::opengl::CSetOfTexturedTriangles, mrpt::math::CSplineInterpolator1D, mrpt::nav::CLogFileRecord_VFF, mrpt::nav::CPTG_Holo_Blend, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationSkeleton, mrpt::obs::CObservationVisualLandmarks, mrpt::poses::CPosePDFGrid, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::math::CMatrixD, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::opengl::C3DSScene, mrpt::opengl::COpenGLStandardObject, mrpt::math::CMatrix, mrpt::poses::CPointPDFGaussian, mrpt::utils::TStereoCamera, mrpt::opengl::CSetOfTriangles, mrpt::math::CMatrixB, mrpt::poses::TSimple3DPoint, mrpt::utils::CMemoryChunk, mrpt::utils::CPropertiesValuesList, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationRobotPose, mrpt::math::CPolygon, mrpt::poses::CPoint2DPDFGaussian, mrpt::utils::CSimpleDatabaseTable, mrpt::utils::CTypeSelector, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::kinematics::CVehicleVelCmd_DiffDriven, and mrpt::kinematics::CVehicleVelCmd_Holo.

Referenced by mrpt::utils::CStream::WriteObject(), mrpt::maps::CColouredOctoMap::writeToStream(), and mrpt::maps::COctoMap::writeToStream().

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Friends And Related Function Documentation

mrpt::utils::CStream

friend class mrpt::utils::CStream

friend

Definition at line 43 of file CObservation.h.

Member Data Documentation

runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::obs::CObservation::runtimeClassId

staticprotected

Definition at line 43 of file CObservation.h.

sensorLabel

std::string mrpt::obs::CObservation::sensorLabel

An arbitrary label that can be used to identify the sensor.

Definition at line 60 of file CObservation.h.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::hwdrivers::CRaePID::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CRaePID::getFullInfo(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::COpenNI2Sensor::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CWirelessPower::getObservation(), mrpt::hwdrivers::CImpinjRFID::getObservation(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::getObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation(), mrpt::obs::CObservation6DFeatures::readFromStream(), mrpt::obs::CObservationStereoImagesFeatures::readFromStream(), mrpt::obs::CObservationStereoImages::readFromStream(), mrpt::obs::CObservation2DRangeScan::readFromStream(), mrpt::obs::CObservationVelodyneScan::readFromStream(), mrpt::obs::CObservation3DRangeScan::readFromStream(), swap(), mrpt::obs::CObservationGPS::swap(), mrpt::obs::CObservation6DFeatures::writeToStream(), mrpt::obs::CObservationStereoImagesFeatures::writeToStream(), mrpt::obs::CObservationStereoImages::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::obs::CObservationVelodyneScan::writeToStream(), and mrpt::obs::CObservation3DRangeScan::writeToStream().

timestamp

mrpt::system::TTimeStamp mrpt::obs::CObservation::timestamp

The associated UTC time-stamp.

Where available, this should contain the accurate satellite-based timestamp of the sensor reading.

See also

getOriginalReceivedTimeStamp(), getTimeStamp()

Definition at line 58 of file CObservation.h.

Referenced by mrpt::obs::CObservationVelodyneScan::TPointCloud::clear_deep(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::detectors::CObjectDetection::detectObjects(), mrpt::hwdrivers::CRaePID::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::obs::CRawlog::findObservationsByClassInRange(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::obs::CObservationGasSensors::CMOSmodel::get_GasDistribution_estimation(), mrpt::hwdrivers::CRaePID::getFullInfo(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::COpenNI2_RGBD360::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CWirelessPower::getObservation(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CImageGrabber_OpenCV::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::getObservation(), mrpt::hwdrivers::CImageGrabber_dc1394::getObservation(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::hwdrivers::CDUO3DCamera::getObservations(), getOriginalReceivedTimeStamp(), getTimeStamp(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::obs::CObservationGasSensors::CMOSmodel::inverse_MOSmodeling(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::obs::CObservationGasSensors::CMOSmodel::noise_filtering(), mrpt::hwdrivers::CGPSInterface::parse_NMEA(), mrpt::obs::CObservation6DFeatures::readFromStream(), mrpt::obs::CObservationStereoImagesFeatures::readFromStream(), mrpt::obs::CObservationStereoImages::readFromStream(), mrpt::obs::CObservation2DRangeScan::readFromStream(), mrpt::obs::CObservationVelodyneScan::readFromStream(), mrpt::obs::CObservation3DRangeScan::readFromStream(), mrpt::obs::CObservationGasSensors::CMOSmodel::save_log_map(), mrpt::maps::CLandmarksMap::simulateBeaconReadings(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), swap(), mrpt::obs::CObservationGPS::swap(), velodyne_scan_to_pointcloud(), mrpt::obs::CObservation6DFeatures::writeToStream(), mrpt::obs::CObservationStereoImagesFeatures::writeToStream(), mrpt::obs::CObservationStereoImages::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::obs::CObservationVelodyneScan::writeToStream(), and mrpt::obs::CObservation3DRangeScan::writeToStream().