Detailed Description

This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs.

This class can manage sensors that detect landmarks in a 2D plane (e.g. a laser scanner) or in the 3D space (e.g. a camera). There are two direction angles: yaw (azimuth) and pitch (negative elevation). For 2D sensors, the pitch must be always set to 0. See CObservationBearingRange::validCovariances for the instructions to fill the uncertainty covariances.

See also: CObservation

Definition at line 31 of file CObservationBearingRange.h.

#include <mrpt/obs/CObservationBearingRange.h>

Inheritance diagram for mrpt::obs::CObservationBearingRange:

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

Public Types
typedef std::vector< TMeasurement >	TMeasurementList

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) noexcept

void	operator delete[] (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

void *	operator new (size_t size, const std::nothrow_t &) noexcept

void	operator delete (void *ptr, const std::nothrow_t &) noexcept

	CObservationBearingRange ()
	Default constructor. 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...

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 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...

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 void *	operator new (size_t size, void *ptr)

Public Attributes
float	minSensorDistance

float	maxSensorDistance

float	fieldOfView_yaw
	Information about the. More...

float	fieldOfView_pitch
	Information about the sensor: The "field-of-view" of the sensor, in radians (for pitch ). More...

mrpt::poses::CPose3D	sensorLocationOnRobot
	The position of the sensor on the robot. More...

TMeasurementList	sensedData
	The list of observed ranges: More...

bool	validCovariances
	True: The individual 3x3 covariance matrices must be taken into account, false (default): All the measurements have identical, diagonal 3x3 covariance matrices given by the values sensor_std_range,sensor_std_yaw,sensor_std_pitch. More...

float	sensor_std_range
	Taken into account only if validCovariances=false: the standard deviation of the sensor noise model for range,yaw and pitch (in meters and radians). More...

float	sensor_std_yaw

float	sensor_std_pitch

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< CObservationBearingRange >

using	ConstPtr = std::shared_ptr< const CObservationBearingRange >

static mrpt::utils::CLASSINIT	_init_CObservationBearingRange

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CObservationBearingRange"

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

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

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

template<typename... Args>
static Ptr	Create (Args &&... args)

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::utils::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 33 of file CObservationBearingRange.h.

◆ Ptr

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

A typedef for the associated smart pointer

Definition at line 33 of file CObservationBearingRange.h.

◆ TMeasurementList

typedef std::vector<TMeasurement> mrpt::obs::CObservationBearingRange::TMeasurementList

Definition at line 77 of file CObservationBearingRange.h.

Constructor & Destructor Documentation

◆ CObservationBearingRange()

CObservationBearingRange::CObservationBearingRange ( )

Default constructor.

Definition at line 29 of file CObservationBearingRange.cpp.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ clone()

virtual mrpt::utils::CObject* mrpt::obs::CObservationBearingRange::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::CObservationBearingRange::Create ( Args &&... args )

inlinestatic

Definition at line 33 of file CObservationBearingRange.h.

◆ CreateObject()

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

static

◆ debugPrintOut()

void CObservationBearingRange::debugPrintOut ( )

Prints out the contents of the object.

Definition at line 174 of file CObservationBearingRange.cpp.

References mrpt::obs::gnss::pitch, and RAD2DEG.

◆ getDescriptionAsText()

void CObservationBearingRange::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 196 of file CObservationBearingRange.cpp.

References mrpt::format(), mrpt::obs::CObservation::getDescriptionAsText(), INVALID_LANDMARK_ID, mrpt::obs::gnss::pitch, RAD2DEG, and mrpt::math::wrapToPi().

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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::CObservationBearingRange::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::CObservationBearingRange::GetRuntimeClassIdStatic ( )

static

◆ getSensorPose() [1/2]

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

inlineoverridevirtual

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 103 of file CObservationBearingRange.h.

References sensorLocationOnRobot.

◆ 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

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

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::CObservationBearingRange::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 33 of file CObservationBearingRange.h.

◆ operator delete() [2/3]

void mrpt::obs::CObservationBearingRange::operator delete ( void * ptr )

inlinenoexcept

Definition at line 33 of file CObservationBearingRange.h.

◆ operator delete() [3/3]

void mrpt::obs::CObservationBearingRange::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 33 of file CObservationBearingRange.h.

◆ operator delete[]()

void mrpt::obs::CObservationBearingRange::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 33 of file CObservationBearingRange.h.

◆ operator new() [1/3]

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

inlinestatic

Definition at line 33 of file CObservationBearingRange.h.

◆ operator new() [2/3]

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

inlinenoexcept

Definition at line 33 of file CObservationBearingRange.h.

◆ operator new() [3/3]

void* mrpt::obs::CObservationBearingRange::operator new ( size_t size )

inline

Definition at line 33 of file CObservationBearingRange.h.

◆ operator new[]()

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

inline

Definition at line 33 of file CObservationBearingRange.h.

◆ readFromStream()

void CObservationBearingRange::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

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

Implements mrpt::utils::CSerializable.

Definition at line 92 of file CObservationBearingRange.cpp.

References INVALID_LANDMARK_ID, INVALID_TIMESTAMP, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and THROW_EXCEPTION_FMT.

◆ setSensorPose() [1/2]

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

inlineoverridevirtual

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 107 of file CObservationBearingRange.h.

References sensorLocationOnRobot.

Referenced by mrpt::vision::StereoObs2BRObs().

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◆ 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 CObservationBearingRange::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

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

Implements mrpt::utils::CSerializable.

Definition at line 46 of file CObservationBearingRange.cpp.

References INVALID_LANDMARK_ID, and THROW_EXCEPTION_FMT.

Member Data Documentation

◆ _init_CObservationBearingRange

mrpt::utils::CLASSINIT mrpt::obs::CObservationBearingRange::_init_CObservationBearingRange

staticprotected

Definition at line 33 of file CObservationBearingRange.h.

◆ className

constexpr const char* mrpt::obs::CObservationBearingRange::className = "CObservationBearingRange"

static

Definition at line 33 of file CObservationBearingRange.h.

◆ fieldOfView_pitch

float mrpt::obs::CObservationBearingRange::fieldOfView_pitch

Information about the sensor: The "field-of-view" of the sensor, in radians (for pitch ).

Definition at line 48 of file CObservationBearingRange.h.

Referenced by mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), and mrpt::vision::StereoObs2BRObs().

◆ fieldOfView_yaw

float mrpt::obs::CObservationBearingRange::fieldOfView_yaw

Information about the.

sensor: Ranges, in meters (0: there is no limits) Information about the sensor: The "field-of-view" of the sensor, in radians (for yaw ).

Definition at line 45 of file CObservationBearingRange.h.

Referenced by mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), and mrpt::vision::StereoObs2BRObs().

◆ maxSensorDistance

float mrpt::obs::CObservationBearingRange::maxSensorDistance

Definition at line 40 of file CObservationBearingRange.h.

Referenced by mrpt::maps::CLandmarksMap::simulateRangeBearingReadings().

◆ minSensorDistance

float mrpt::obs::CObservationBearingRange::minSensorDistance

Definition at line 40 of file CObservationBearingRange.h.

Referenced by mrpt::maps::CLandmarksMap::simulateRangeBearingReadings().

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::obs::CObservationBearingRange::runtimeClassId

staticprotected

Definition at line 33 of file CObservationBearingRange.h.

◆ sensedData

TMeasurementList mrpt::obs::CObservationBearingRange::sensedData

The list of observed ranges:

Definition at line 80 of file CObservationBearingRange.h.

Referenced by mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), and mrpt::vision::StereoObs2BRObs().

◆ sensor_std_pitch

float mrpt::obs::CObservationBearingRange::sensor_std_pitch

Definition at line 96 of file CObservationBearingRange.h.

Referenced by mrpt::maps::CLandmarksMap::simulateRangeBearingReadings().

◆ sensor_std_range

float mrpt::obs::CObservationBearingRange::sensor_std_range

Taken into account only if validCovariances=false: the standard deviation of the sensor noise model for range,yaw and pitch (in meters and radians).

If validCovariances=true, these 3 values are ignored and the individual 3x3 covariance matrices contain the actual uncertainties for each of the detected landmarks.

Definition at line 96 of file CObservationBearingRange.h.

Referenced by mrpt::maps::CLandmarksMap::simulateRangeBearingReadings().

◆ sensor_std_yaw

float mrpt::obs::CObservationBearingRange::sensor_std_yaw

Definition at line 96 of file CObservationBearingRange.h.

Referenced by mrpt::maps::CLandmarksMap::simulateRangeBearingReadings().

◆ 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.

◆ sensorLocationOnRobot

mrpt::poses::CPose3D mrpt::obs::CObservationBearingRange::sensorLocationOnRobot

The position of the sensor on the robot.

Definition at line 52 of file CObservationBearingRange.h.

Referenced by getSensorPose(), setSensorPose(), and mrpt::maps::CLandmarksMap::simulateRangeBearingReadings().

◆ 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.

◆ validCovariances

bool mrpt::obs::CObservationBearingRange::validCovariances

True: The individual 3x3 covariance matrices must be taken into account, false (default): All the measurements have identical, diagonal 3x3 covariance matrices given by the values sensor_std_range,sensor_std_yaw,sensor_std_pitch.

Definition at line 87 of file CObservationBearingRange.h.

Referenced by mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), and mrpt::vision::StereoObs2BRObs().

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Data common to any observation

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

◆ TMeasurementList

Constructor & Destructor Documentation

◆ CObservationBearingRange()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create()

◆ CreateObject()

◆ debugPrintOut()

◆ getDescriptionAsText()

◆ getOriginalReceivedTimeStamp()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getSensorPose() [1/2]

◆ getSensorPose() [2/2]

◆ getTimeStamp()

◆ insertObservationInto()

◆ load()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ readFromStream()

◆ setSensorPose() [1/2]

◆ setSensorPose() [2/2]

◆ swap()

◆ unload()

◆ writeToMatlab()

◆ writeToStream()

Member Data Documentation

◆ _init_CObservationBearingRange

◆ className

◆ fieldOfView_pitch

◆ fieldOfView_yaw

◆ maxSensorDistance

◆ minSensorDistance

◆ runtimeClassId

◆ sensedData

◆ sensor_std_pitch

◆ sensor_std_range

◆ sensor_std_yaw

◆ sensorLabel

◆ sensorLocationOnRobot

◆ timestamp

◆ validCovariances