Detailed Description

This class stores measurements from an Inertial Measurement Unit (IMU) (attitude estimation, raw gyroscope and accelerometer values), altimeters or magnetometers.

The order of the values in each entry of mrpt::obs::CObservationIMU::rawMeasurements is defined as symbolic names in the enum mrpt::obs::TIMUDataIndex. Check it out also for reference on the unit and the coordinate frame used for each value.

See also: CObservation

Definition at line 108 of file CObservationIMU.h.

#include <mrpt/obs/CObservationIMU.h>

Inheritance diagram for mrpt::obs::CObservationIMU:

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

	CObservationIMU ()
	Constructor. More...

virtual	~CObservationIMU ()
	Destructor. 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
mrpt::poses::CPose3D	sensorPose
	The pose of the sensor on the robot. More...

vector_bool	dataIsPresent
	Each entry in this vector is true if the corresponding data index contains valid data (the IMU unit supplies that kind of data). More...

std::vector< double >	rawMeasurements
	The accelerometer and/or gyroscope measurements taken by the IMU at the given timestamp. 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< CObservationIMU >

using	ConstPtr = std::shared_ptr< const CObservationIMU >

static mrpt::utils::CLASSINIT	_init_CObservationIMU

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CObservationIMU"

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::CObservationIMU::ConstPtr = std::shared_ptr<const CObservationIMU >

Definition at line 110 of file CObservationIMU.h.

◆ Ptr

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

A typedef for the associated smart pointer

Definition at line 110 of file CObservationIMU.h.

Constructor & Destructor Documentation

◆ CObservationIMU()

mrpt::obs::CObservationIMU::CObservationIMU ( )

inline

Constructor.

Definition at line 115 of file CObservationIMU.h.

◆ ~CObservationIMU()

virtual mrpt::obs::CObservationIMU::~CObservationIMU ( )

inlinevirtual

Destructor.

Definition at line 124 of file CObservationIMU.h.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ clone()

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

inlinestatic

Definition at line 110 of file CObservationIMU.h.

◆ CreateObject()

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

static

◆ getDescriptionAsText()

void CObservationIMU::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 109 of file CObservationIMU.cpp.

References mrpt::obs::COUNT_IMU_DATA_FIELDS, DUMP_IMU_DATA, mrpt::format(), mrpt::obs::CObservation::getDescriptionAsText(), mrpt::obs::IMU_ALTITUDE, mrpt::obs::IMU_MAG_X, mrpt::obs::IMU_MAG_Y, mrpt::obs::IMU_MAG_Z, mrpt::obs::IMU_ORI_QUAT_W, mrpt::obs::IMU_ORI_QUAT_X, mrpt::obs::IMU_ORI_QUAT_Y, mrpt::obs::IMU_ORI_QUAT_Z, mrpt::obs::IMU_PITCH, mrpt::obs::IMU_PITCH_VEL, mrpt::obs::IMU_PITCH_VEL_GLOBAL, mrpt::obs::IMU_PRESSURE, mrpt::obs::IMU_ROLL, mrpt::obs::IMU_ROLL_VEL, mrpt::obs::IMU_ROLL_VEL_GLOBAL, mrpt::obs::IMU_TEMPERATURE, mrpt::obs::IMU_X, mrpt::obs::IMU_X_ACC, mrpt::obs::IMU_X_ACC_GLOBAL, mrpt::obs::IMU_X_VEL, mrpt::obs::IMU_Y, mrpt::obs::IMU_Y_ACC, mrpt::obs::IMU_Y_ACC_GLOBAL, mrpt::obs::IMU_Y_VEL, mrpt::obs::IMU_YAW, mrpt::obs::IMU_YAW_VEL, mrpt::obs::IMU_YAW_VEL_GLOBAL, mrpt::obs::IMU_Z, mrpt::obs::IMU_Z_ACC, mrpt::obs::IMU_Z_ACC_GLOBAL, mrpt::obs::IMU_Z_VEL, and RAD2DEG.

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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::CObservationIMU::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::CObservationIMU::GetRuntimeClassIdStatic ( )

static

◆ getSensorPose() [1/2]

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.

◆ getSensorPose() [2/2]

void mrpt::obs::CObservationIMU::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 141 of file CObservationIMU.h.

References sensorPose.

◆ 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::CObservationIMU::operator delete ( void * ptr )

inlinenoexcept

Definition at line 110 of file CObservationIMU.h.

◆ operator delete() [2/3]

void mrpt::obs::CObservationIMU::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 110 of file CObservationIMU.h.

◆ operator delete() [3/3]

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

inlinenoexcept

Definition at line 110 of file CObservationIMU.h.

◆ operator delete[]()

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

inlinenoexcept

Definition at line 110 of file CObservationIMU.h.

◆ operator new() [1/3]

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

inlinenoexcept

Definition at line 110 of file CObservationIMU.h.

◆ operator new() [2/3]

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

inlinestatic

Definition at line 110 of file CObservationIMU.h.

◆ operator new() [3/3]

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

inline

Definition at line 110 of file CObservationIMU.h.

◆ operator new[]()

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

inline

Definition at line 110 of file CObservationIMU.h.

◆ readFromStream()

void CObservationIMU::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 47 of file CObservationIMU.cpp.

References ASSERT_, mrpt::obs::COUNT_IMU_DATA_FIELDS, mrpt::obs::IMU_ROLL_VEL, mrpt::obs::IMU_YAW_VEL, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ setSensorPose() [1/2]

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.

◆ setSensorPose() [2/2]

void mrpt::obs::CObservationIMU::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 145 of file CObservationIMU.h.

References sensorPose.

◆ 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 CObservationIMU::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 26 of file CObservationIMU.cpp.

Member Data Documentation

◆ _init_CObservationIMU

mrpt::utils::CLASSINIT mrpt::obs::CObservationIMU::_init_CObservationIMU

staticprotected

Definition at line 110 of file CObservationIMU.h.

◆ className

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

static

Definition at line 110 of file CObservationIMU.h.

◆ dataIsPresent

vector_bool mrpt::obs::CObservationIMU::dataIsPresent

Each entry in this vector is true if the corresponding data index contains valid data (the IMU unit supplies that kind of data).

See the top of this page for the meaning of the indices.

Definition at line 132 of file CObservationIMU.h.

Referenced by mrpt::hwdrivers::CKinect::getNextObservation(), and mrpt::hwdrivers::CDUO3DCamera::getObservations().

◆ rawMeasurements

std::vector<double> mrpt::obs::CObservationIMU::rawMeasurements

The accelerometer and/or gyroscope measurements taken by the IMU at the given timestamp.

See also: dataIsPresent, CObservation::timestamp

Definition at line 138 of file CObservationIMU.h.

Referenced by mrpt::hwdrivers::CKinect::getNextObservation(), and mrpt::hwdrivers::CDUO3DCamera::getObservations().

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::obs::CObservationIMU::runtimeClassId

staticprotected

Definition at line 110 of file CObservationIMU.h.

◆ 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.

◆ sensorPose

mrpt::poses::CPose3D mrpt::obs::CObservationIMU::sensorPose

The pose of the sensor on the robot.

Definition at line 126 of file CObservationIMU.h.

Referenced by mrpt::hwdrivers::CKinect::getNextObservation(), getSensorPose(), and setSensorPose().

◆ 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.

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Data common to any observation

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CObservationIMU()

◆ ~CObservationIMU()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create()

◆ CreateObject()

◆ 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_CObservationIMU

◆ className

◆ dataIsPresent

◆ rawMeasurements

◆ runtimeClassId

◆ sensorLabel

◆ sensorPose

◆ timestamp