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mrpt::obs::CObservationBeaconRanges Class Reference

Detailed Description

Declares a class derived from "CObservation" that represents one (or more) range measurements to labeled beacons.

See also
CObservation

Definition at line 27 of file CObservationBeaconRanges.h.

#include <mrpt/obs/CObservationBeaconRanges.h>

Inheritance diagram for mrpt::obs::CObservationBeaconRanges:
Inheritance graph

Classes

struct  TMeasurement
 Each one of the measurements. More...
 

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) noexcept
 
void operator delete[] (void *ptr) noexcept
 
void operator delete (void *memory, void *ptr) noexcept
 
voidoperator new (size_t size, const std::nothrow_t &) noexcept
 
void operator delete (void *ptr, const std::nothrow_t &) noexcept
 
 CObservationBeaconRanges ()
 ctor More...
 
void debugPrintOut ()
 Prints out the contents of the object. More...
 
void getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const override
 A general method to retrieve the sensor pose on the robot. More...
 
void setSensorPose (const mrpt::poses::CPose3D &newSensorPose) override
 A general method to change the sensor pose on the robot. More...
 
void getDescriptionAsText (std::ostream &o) const override
 Build a detailed, multi-line textual description of the observation contents and dump it to the output stream. More...
 
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. More...
 
template<class METRICMAP >
bool insertObservationInto (METRICMAP *theMap, const mrpt::poses::CPose3D *robotPose=nullptr) const
 This method is equivalent to: More...
 
void getSensorPose (mrpt::math::TPose3D &out_sensorPose) const
 A general method to retrieve 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 mxArraywriteToMatlab () 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...
 
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...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 

Public Attributes

float minSensorDistance
 Info about sensor. More...
 
float maxSensorDistance
 
float stdError
 The "sigma" of the sensor, assuming a zero-mean Gaussian noise model. More...
 
std::deque< TMeasurementsensedData
 The list of observed ranges. More...
 
mrpt::poses::CPose2D auxEstimatePose
 The (X,Y,PHI) pose estimated by the UWB software, for comparison purposes (Added in streamming version 1) More...
 

Protected Member Functions

void swap (CObservation &o)
 Swap with another observation, ONLY the data defined here in the base class CObservation. More...
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const override
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version) override
 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...
 

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...
 

RTTI stuff

using Ptr = std::shared_ptr< CObservationBeaconRanges >
 
using ConstPtr = std::shared_ptr< const CObservationBeaconRanges >
 
static mrpt::utils::CLASSINIT _init_CObservationBeaconRanges
 
static const mrpt::utils::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "CObservationBeaconRanges"
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
static const mrpt::utils::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static mrpt::utils::CObjectCreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

Member Typedef Documentation

◆ ConstPtr

Definition at line 29 of file CObservationBeaconRanges.h.

◆ Ptr

A typedef for the associated smart pointer

Definition at line 29 of file CObservationBeaconRanges.h.

Constructor & Destructor Documentation

◆ CObservationBeaconRanges()

CObservationBeaconRanges::CObservationBeaconRanges ( )

ctor

Default constructor.

Definition at line 25 of file CObservationBeaconRanges.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservationBeaconRanges::_GetBaseClass ( )
staticprotected

◆ clone()

virtual mrpt::utils::CObject* mrpt::obs::CObservationBeaconRanges::clone ( ) const
overridevirtual

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

Implements mrpt::utils::CObject.

◆ Create()

template<typename... Args>
static Ptr mrpt::obs::CObservationBeaconRanges::Create ( Args &&...  args)
inlinestatic

Definition at line 29 of file CObservationBeaconRanges.h.

◆ CreateObject()

static mrpt::utils::CObject* mrpt::obs::CObservationBeaconRanges::CreateObject ( )
static

◆ debugPrintOut()

void CObservationBeaconRanges::debugPrintOut ( )

Prints out the contents of the object.

Definition at line 110 of file CObservationBeaconRanges.cpp.

◆ getDescriptionAsText()

void CObservationBeaconRanges::getDescriptionAsText ( std::ostream &  o) const
overridevirtual

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 from mrpt::obs::CObservation.

Definition at line 165 of file CObservationBeaconRanges.cpp.

References mrpt::format(), and mrpt::obs::CObservation::getDescriptionAsText().

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◆ getOriginalReceivedTimeStamp()

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

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 mrpt::obs::CObservation::timestamp.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservationBeaconRanges::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::obs::CObservation.

◆ GetRuntimeClassIdStatic()

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

◆ getSensedRangeByBeaconID()

float CObservationBeaconRanges::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.

Definition at line 157 of file CObservationBeaconRanges.cpp.

◆ getSensorPose() [1/2]

void CObservationBeaconRanges::getSensorPose ( mrpt::poses::CPose3D out_sensorPose) const
overridevirtual

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

Implements mrpt::obs::CObservation.

Definition at line 135 of file CObservationBeaconRanges.cpp.

◆ getSensorPose() [2/2]

void CObservation::getSensorPose ( mrpt::math::TPose3D out_sensorPose) const
inherited

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
inlineinherited

Returns CObservation::timestamp for all kind of observations.

See also
getOriginalReceivedTimeStamp()

Definition at line 64 of file CObservation.h.

References mrpt::obs::CObservation::timestamp.

◆ insertObservationInto()

template<class METRICMAP >
bool mrpt::obs::CObservation::insertObservationInto ( METRICMAP *  theMap,
const mrpt::poses::CPose3D robotPose = nullptr 
) const
inlineinherited

This method is equivalent to:

map->insertObservation(this, robotPose)
Parameters
theMapThe map where this observation is to be inserted: the map will be updated.
robotPoseThe 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
inlinevirtualinherited

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.

◆ operator delete() [1/3]

void mrpt::obs::CObservationBeaconRanges::operator delete ( void ptr)
inlinenoexcept

Definition at line 29 of file CObservationBeaconRanges.h.

◆ operator delete() [2/3]

void mrpt::obs::CObservationBeaconRanges::operator delete ( void memory,
void ptr 
)
inlinenoexcept

Definition at line 29 of file CObservationBeaconRanges.h.

◆ operator delete() [3/3]

void mrpt::obs::CObservationBeaconRanges::operator delete ( void ptr,
const std::nothrow_t &   
)
inlinenoexcept

Definition at line 29 of file CObservationBeaconRanges.h.

◆ operator delete[]()

void mrpt::obs::CObservationBeaconRanges::operator delete[] ( void ptr)
inlinenoexcept

Definition at line 29 of file CObservationBeaconRanges.h.

◆ operator new() [1/3]

void* mrpt::obs::CObservationBeaconRanges::operator new ( size_t  size,
const std::nothrow_t &   
)
inlinenoexcept

Definition at line 29 of file CObservationBeaconRanges.h.

◆ operator new() [2/3]

void* mrpt::obs::CObservationBeaconRanges::operator new ( size_t  size)
inline

Definition at line 29 of file CObservationBeaconRanges.h.

◆ operator new() [3/3]

static void* mrpt::obs::CObservationBeaconRanges::operator new ( size_t  size,
void ptr 
)
inlinestatic

Definition at line 29 of file CObservationBeaconRanges.h.

◆ operator new[]()

void* mrpt::obs::CObservationBeaconRanges::operator new[] ( size_t  size)
inline

Definition at line 29 of file CObservationBeaconRanges.h.

◆ readFromStream()

void CObservationBeaconRanges::readFromStream ( mrpt::utils::CStream in,
int  version 
)
overrideprotectedvirtual

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
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any error, see CStream::ReadBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 64 of file CObservationBeaconRanges.cpp.

References INVALID_TIMESTAMP, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ setSensorPose() [1/2]

void CObservationBeaconRanges::setSensorPose ( const mrpt::poses::CPose3D newSensorPose)
overridevirtual

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

Implements mrpt::obs::CObservation.

Definition at line 146 of file CObservationBeaconRanges.cpp.

◆ setSensorPose() [2/2]

void CObservation::setSensorPose ( const mrpt::math::TPose3D newSensorPose)
inherited

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)
protectedinherited

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 mrpt::obs::CObservation::sensorLabel, and mrpt::obs::CObservation::timestamp.

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

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◆ unload()

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

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()

void CObservationBeaconRanges::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
overrideprotectedvirtual

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
outThe output binary stream where object must be dumped.
getVersionIf 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::exceptionOn any error, see CStream::WriteBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Definition at line 37 of file CObservationBeaconRanges.cpp.

Member Data Documentation

◆ _init_CObservationBeaconRanges

mrpt::utils::CLASSINIT mrpt::obs::CObservationBeaconRanges::_init_CObservationBeaconRanges
staticprotected

Definition at line 29 of file CObservationBeaconRanges.h.

◆ auxEstimatePose

mrpt::poses::CPose2D mrpt::obs::CObservationBeaconRanges::auxEstimatePose

The (X,Y,PHI) pose estimated by the UWB software, for comparison purposes (Added in streamming version 1)

Definition at line 63 of file CObservationBeaconRanges.h.

◆ className

constexpr const char* mrpt::obs::CObservationBeaconRanges::className = "CObservationBeaconRanges"
static

Definition at line 29 of file CObservationBeaconRanges.h.

◆ maxSensorDistance

float mrpt::obs::CObservationBeaconRanges::maxSensorDistance

◆ minSensorDistance

float mrpt::obs::CObservationBeaconRanges::minSensorDistance

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::obs::CObservationBeaconRanges::runtimeClassId
staticprotected

Definition at line 29 of file CObservationBeaconRanges.h.

◆ sensedData

std::deque<TMeasurement> mrpt::obs::CObservationBeaconRanges::sensedData

◆ sensorLabel

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

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(), mrpt::obs::CObservation::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().

◆ stdError

float mrpt::obs::CObservationBeaconRanges::stdError

◆ timestamp

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

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(), mrpt::obs::CObservation::getOriginalReceivedTimeStamp(), mrpt::obs::CObservation::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(), mrpt::obs::CObservation::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().




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