Detailed Description

Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximately at the same time as one "snapshot" of the environment.

It can contain "observations" of many different kinds.

New observations can be added using:

 CObservationXXX::Ptr   o = mrpt::make_aligned_shared<CObservationXXX>();
// Create
a smart pointer containing an object of class "CObservationXXX"
 o->(...)
 CSensoryFrame   sf;
 sf.insert(o);

The following methods are equivalent for adding new observations to a "sensory frame":

To examine the objects within a sensory frame, the following methods exist:

CSensoryFrame::getObservationByClass : Looks for some specific observation class.
CSensoryFrame::begin : To iterate over all observations.
CSensoryFrame::getObservationByIndex : To query by index.

Notice that contained observations objects are automatically deleted on this object's destruction or clear.

See also: CObservation

Definition at line 54 of file CSensoryFrame.h.

#include <mrpt/obs/CSensoryFrame.h>

Inheritance diagram for mrpt::obs::CSensoryFrame:

Public Types
typedef std::deque< CObservation::Ptr >::iterator	iterator
	You can use CSensoryFrame::begin to get a iterator to the first element. More...

typedef std::deque< CObservation::Ptr >::const_iterator	const_iterator
	You can use CSensoryFrame::begin to get a iterator to the first element. More...

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

	CSensoryFrame ()
	Default constructor. More...

	CSensoryFrame (const CSensoryFrame &)
	Copy constructor. More...

CSensoryFrame &	operator= (const CSensoryFrame &o)
	Copy. More...

virtual	~CSensoryFrame ()
	Destructor. More...

void	clear ()
	Clear all current observations. More...

bool	insertObservationsInto (mrpt::maps::CMetricMap theMap, const mrpt::poses::CPose3D robotPose=nullptr) const
	Insert all the observations in this SF into a metric map or any kind (see mrpt::maps::CMetricMap). More...

bool	insertObservationsInto (mrpt::maps::CMetricMap::Ptr &theMap, const mrpt::poses::CPose3D *robotPose=nullptr) const
	Insert all the observations in this SF into a metric map or any kind (see mrpt::maps::CMetricMap). More...

void	operator+= (const CSensoryFrame &sf)
	You can use "sf1+=sf2;" to add observations in sf2 to sf1. More...

void	operator+= (const CObservation::Ptr &obs)
	You can use "sf+=obs;" to add the observation "obs" to the "sf1". More...

void	moveFrom (CSensoryFrame &sf)
	Copies all the observation from another object, then erase them from the origin object (this method is fast since only pointers are copied); Previous objects in this objects are not deleted. More...

void	push_back (const CObservation::Ptr &obs)
	Inserts a new observation to the list: The pointer to the objects is copied, thus DO NOT delete the passed object, this class will do at destructor or when appropriate. More...

void	insert (const CObservation::Ptr &obs)
	Inserts a new observation to the list: The pointer to the objects is copied, thus DO NOT delete the passed object, this class will do at destructor or when appropriate. More...

template<typename T >
T::Ptr	getObservationByClass (const size_t &ith=0) const
	Returns the i'th observation of a given class (or of a descendant class), or nullptr if there is no such observation in the array. More...

const_iterator	begin () const
	Returns a constant iterator to the first observation: this is an example of usage: More...

const_iterator	end () const
	Returns a constant iterator to the end of the list of observations: this is an example of usage: More...

iterator	begin ()
	Returns a iterator to the first observation: this is an example of usage: More...

iterator	end ()
	Returns a iterator to the end of the list of observations: this is an example of usage: More...

size_t	size () const
	Returns the number of observations in the list. More...

bool	empty () const
	Returns true if there are no observations in the list. More...

void	eraseByIndex (const size_t &idx)
	Removes the i'th observation in the list (0=first). More...

iterator	erase (const iterator &it)
	Removes the given observation in the list, and return an iterator to the next element (or this->end() if it was the last one). More...

void	eraseByLabel (const std::string &label)
	Removes all the observations that match a given sensorLabel. More...

CObservation::Ptr	getObservationByIndex (const size_t &idx) const
	Returns the i'th observation in the list (0=first). More...

template<typename T >
T	getObservationByIndexAs (const size_t &idx) const
	Returns the i'th observation in the list (0=first), and as a different smart pointer type: More...

CObservation::Ptr	getObservationBySensorLabel (const std::string &label, const size_t &idx=0) const
	Returns the i'th observation in the list with the given "sensorLabel" (0=first). More...

template<typename T >
T	getObservationBySensorLabelAs (const std::string &label, const size_t &idx=0) const
	Returns the i'th observation in the list with the given "sensorLabel" (0=first), and as a different smart pointer type: More...

void	swap (CSensoryFrame &sf)
	Efficiently swaps the contents of two objects. 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...

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)

Protected Member Functions
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...

Protected Attributes
std::deque< CObservation::Ptr >	m_observations
	The set of observations taken at the same time instant. More...

RTTI stuff
using	Ptr = std::shared_ptr< CSensoryFrame >

using	ConstPtr = std::shared_ptr< const CSensoryFrame >

static mrpt::utils::CLASSINIT	_init_CSensoryFrame

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CSensoryFrame"

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...

Cached points map
mrpt::maps::CMetricMap::Ptr	m_cachedMap
	A points map, build only under demand by the methods getAuxPointsMap() and buildAuxPointsMap(). More...

template<class POINTSMAP >
const POINTSMAP *	getAuxPointsMap () const
	Returns the cached points map representation of the scan, if already build with buildAuxPointsMap(), or nullptr otherwise. More...

template<class POINTSMAP >
const POINTSMAP *	buildAuxPointsMap (const void *options=nullptr) const
	Returns a cached points map representing this laser scan, building it upon the first call. More...

void	internal_buildAuxPointsMap (const void *options=nullptr) const
	Internal method, used from buildAuxPointsMap() More...

Member Typedef Documentation

◆ const_iterator

typedef std::deque<CObservation::Ptr>::const_iterator mrpt::obs::CSensoryFrame::const_iterator

You can use CSensoryFrame::begin to get a iterator to the first element.

Definition at line 236 of file CSensoryFrame.h.

◆ ConstPtr

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

Definition at line 56 of file CSensoryFrame.h.

◆ iterator

typedef std::deque<CObservation::Ptr>::iterator mrpt::obs::CSensoryFrame::iterator

You can use CSensoryFrame::begin to get a iterator to the first element.

Definition at line 232 of file CSensoryFrame.h.

◆ Ptr

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

A typedef for the associated smart pointer

Definition at line 56 of file CSensoryFrame.h.

Constructor & Destructor Documentation

◆ CSensoryFrame() [1/2]

CSensoryFrame::CSensoryFrame ( )

Default constructor.

Definition at line 32 of file CSensoryFrame.cpp.

◆ CSensoryFrame() [2/2]

CSensoryFrame::CSensoryFrame ( const CSensoryFrame & o )

Copy constructor.

Definition at line 36 of file CSensoryFrame.cpp.

◆ ~CSensoryFrame()

CSensoryFrame::~CSensoryFrame ( )

virtual

Destructor.

Definition at line 64 of file CSensoryFrame.cpp.

References clear().

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Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ begin() [1/2]

const_iterator mrpt::obs::CSensoryFrame::begin ( ) const

inline

Returns a constant iterator to the first observation: this is an example of usage:

CSensoryFrame  sf;
...
for (CSensoryFrame::const_iterator it=sf.begin();it!=sf.end();++it)
       {
   (*it)->... // (*it) is a "CObservation*"
}

Definition at line 250 of file CSensoryFrame.h.

References m_observations.

Referenced by mrpt::maps::CMetricMap::canComputeObservationsLikelihood(), mrpt::maps::CMetricMap::computeObservationsLikelihood(), eraseByIndex(), eraseByLabel(), getObservationByClass(), getObservationByIndex(), getObservationBySensorLabel(), insertObservationsInto(), internal_buildAuxPointsMap(), mrpt::slam::observationsOverlap(), operator+=(), mrpt::slam::CMonteCarloLocalization3D::PF_SLAM_computeObservationLikelihoodForParticle(), mrpt::slam::CMonteCarloLocalization2D::PF_SLAM_computeObservationLikelihoodForParticle(), mrpt::maps::CMultiMetricMapPDF::PF_SLAM_computeObservationLikelihoodForParticle(), mrpt::slam::CMetricMapBuilderICP::processActionObservation(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

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◆ begin() [2/2]

iterator mrpt::obs::CSensoryFrame::begin ( )

inline

Returns a iterator to the first observation: this is an example of usage:

CSensoryFrame  sf;
...
for (CSensoryFrame::iterator it=sf.begin();it!=sf.end();++it)
       {
   (*it)->... // (*it) is a "CObservation*"
}

Definition at line 276 of file CSensoryFrame.h.

References m_observations.

◆ buildAuxPointsMap()

template<class POINTSMAP >

const POINTSMAP* mrpt::obs::CSensoryFrame::buildAuxPointsMap ( const void * options = nullptr ) const

inline

Returns a cached points map representing this laser scan, building it upon the first call.

Parameters

options

Can be nullptr to use default point maps' insertion options, or a pointer to a "CPointsMap::TInsertionOptions" structure to override some params. Usage:

mrpt::maps::CPointsMap *map =

sf->buildAuxPointsMap<mrpt::maps::CPointsMap>(&options or nullptr);

See also: getAuxPointsMap

Definition at line 109 of file CSensoryFrame.h.

References internal_buildAuxPointsMap(), and m_cachedMap.

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◆ clear()

void CSensoryFrame::clear ( )

Clear all current observations.

Definition at line 68 of file CSensoryFrame.cpp.

References m_cachedMap, and m_observations.

Referenced by operator=(), readFromStream(), and ~CSensoryFrame().

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◆ clone()

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

inlinestatic

Definition at line 56 of file CSensoryFrame.h.

◆ CreateObject()

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

static

◆ empty()

bool mrpt::obs::CSensoryFrame::empty ( ) const

inline

Returns true if there are no observations in the list.

Definition at line 293 of file CSensoryFrame.h.

References m_observations.

◆ end() [1/2]

const_iterator mrpt::obs::CSensoryFrame::end ( ) const

inline

Returns a constant iterator to the end of the list of observations: this is an example of usage:

CSensoryFrame  sf;
...
for (CSensoryFrame::const_iterator it=sf.begin();it!=sf.end();++it)
       {
   (*it)->... // (*it) is a "CObservation*"
}

Definition at line 263 of file CSensoryFrame.h.

References m_observations.

Referenced by mrpt::maps::CMetricMap::canComputeObservationsLikelihood(), mrpt::maps::CMetricMap::computeObservationsLikelihood(), erase(), eraseByLabel(), getObservationByClass(), getObservationBySensorLabel(), insertObservationsInto(), internal_buildAuxPointsMap(), mrpt::slam::observationsOverlap(), operator+=(), mrpt::slam::CMonteCarloLocalization3D::PF_SLAM_computeObservationLikelihoodForParticle(), mrpt::slam::CMonteCarloLocalization2D::PF_SLAM_computeObservationLikelihoodForParticle(), mrpt::maps::CMultiMetricMapPDF::PF_SLAM_computeObservationLikelihoodForParticle(), mrpt::slam::CMetricMapBuilderICP::processActionObservation(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

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◆ end() [2/2]

iterator mrpt::obs::CSensoryFrame::end ( )

inline

Returns a iterator to the end of the list of observations: this is an example of usage:

CSensoryFrame  sf;
...
for (CSensoryFrame::iterator it=sf.begin();it!=sf.end();++it)
       {
   (*it)->... // (*it) is a "CObservation*"
}

Definition at line 289 of file CSensoryFrame.h.

References m_observations.

◆ erase()

CSensoryFrame::iterator CSensoryFrame::erase ( const iterator & it )

Removes the given observation in the list, and return an iterator to the next element (or this->end() if it was the last one).

Definition at line 216 of file CSensoryFrame.cpp.

References ASSERT_, end(), m_cachedMap, m_observations, MRPT_END, and MRPT_START.

Referenced by eraseByLabel().

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◆ eraseByIndex()

void CSensoryFrame::eraseByIndex ( const size_t & idx )

Removes the i'th observation in the list (0=first).

Definition at line 182 of file CSensoryFrame.cpp.

References ASSERT_, begin(), m_cachedMap, m_observations, MRPT_END, MRPT_START, size(), and THROW_EXCEPTION_FMT.

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◆ eraseByLabel()

void CSensoryFrame::eraseByLabel ( const std::string & label )

Removes all the observations that match a given sensorLabel.

Definition at line 269 of file CSensoryFrame.cpp.

References mrpt::system::os::_strcmpi(), begin(), end(), erase(), and m_cachedMap.

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◆ getAuxPointsMap()

template<class POINTSMAP >

const POINTSMAP* mrpt::obs::CSensoryFrame::getAuxPointsMap ( ) const

inline

Returns the cached points map representation of the scan, if already build with buildAuxPointsMap(), or nullptr otherwise.

Usage:

mrpt::maps::CPointsMap *map =

obs->getAuxPointsMap<mrpt::maps::CPointsMap>();

See also: buildAuxPointsMap

Definition at line 91 of file CSensoryFrame.h.

References m_cachedMap.

◆ getObservationByClass()

template<typename T >

T::Ptr mrpt::obs::CSensoryFrame::getObservationByClass ( const size_t & ith = 0 ) const

inline

Returns the i'th observation of a given class (or of a descendant class), or nullptr if there is no such observation in the array.

Example:

CObservationImage::Ptr obs =

m_SF->getObservationByClass<CObservationImage>();

By default (ith=0), the first observation is returned.

Definition at line 217 of file CSensoryFrame.h.

References begin(), end(), MRPT_END, and MRPT_START.

Referenced by mrpt::hmtslam::CTopLCDetector_FabMap::OnNewPose().

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◆ getObservationByIndex()

CObservation::Ptr CSensoryFrame::getObservationByIndex ( const size_t & idx ) const

Returns the i'th observation in the list (0=first).

See also: begin, size

Definition at line 200 of file CSensoryFrame.cpp.

References begin(), MRPT_END, MRPT_START, size(), and THROW_EXCEPTION_FMT.

Referenced by getObservationByIndexAs().

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◆ getObservationByIndexAs()

template<typename T >

T mrpt::obs::CSensoryFrame::getObservationByIndexAs ( const size_t & idx ) const

inline

Returns the i'th observation in the list (0=first), and as a different smart pointer type:

sf.getObservationByIndexAs<CObservationStereoImages::Ptr>(i);

See also: begin, size

Definition at line 319 of file CSensoryFrame.h.

References getObservationByIndex().

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◆ getObservationBySensorLabel()

CObservation::Ptr CSensoryFrame::getObservationBySensorLabel	(	const std::string &	label,
		const size_t &	idx = `0`
	)		const

Returns the i'th observation in the list with the given "sensorLabel" (0=first).

Returns: The observation, or nullptr if not found.

See also: begin, size

Definition at line 230 of file CSensoryFrame.cpp.

References mrpt::system::os::_strcmpi(), begin(), end(), MRPT_END, and MRPT_START.

Referenced by getObservationBySensorLabelAs().

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◆ getObservationBySensorLabelAs()

template<typename T >

T mrpt::obs::CSensoryFrame::getObservationBySensorLabelAs	(	const std::string &	label,
		const size_t &	idx = `0`
	)		const

inline

Returns the i'th observation in the list with the given "sensorLabel" (0=first), and as a different smart pointer type:

sf.getObservationBySensorLabelAs<CObservationStereoImages::Ptr>(i);

See also: begin, size

Definition at line 341 of file CSensoryFrame.h.

References getObservationBySensorLabel().

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◆ GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ GetRuntimeClassIdStatic()

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

static

◆ insert()

void CSensoryFrame::insert ( const CObservation::Ptr & obs )

Inserts a new observation to the list: The pointer to the objects is copied, thus DO NOT delete the passed object, this class will do at destructor or when appropriate.

Definition at line 173 of file CSensoryFrame.cpp.

References m_cachedMap, and m_observations.

Referenced by mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA().

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◆ insertObservationsInto() [1/2]

bool CSensoryFrame::insertObservationsInto	(	mrpt::maps::CMetricMap *	theMap,
		const mrpt::poses::CPose3D *	robotPose = `nullptr`
	)		const

Insert all the observations in this SF into a metric map or any kind (see mrpt::maps::CMetricMap).

It calls CObservation::insertObservationInto for all stored observation.

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 also: mrpt::maps::CMetricMap, CObservation::insertObservationInto, CMetricMap::insertObservation

Definition at line 314 of file CSensoryFrame.cpp.

References begin(), and end().

Referenced by mrpt::maps::CMultiMetricMapPDF::insertObservation(), insertObservationsInto(), and mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA().

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◆ insertObservationsInto() [2/2]

bool mrpt::obs::CSensoryFrame::insertObservationsInto	(	mrpt::maps::CMetricMap::Ptr &	theMap,
		const mrpt::poses::CPose3D *	robotPose = `nullptr`
	)		const

inline

Insert all the observations in this SF into a metric map or any kind (see mrpt::maps::CMetricMap).

It calls CObservation::insertObservationInto for all stored observation.

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 also: mrpt::maps::CMetricMap, CObservation::insertObservationInto, CMetricMap::insertObservation

Definition at line 168 of file CSensoryFrame.h.

References insertObservationsInto().

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◆ internal_buildAuxPointsMap()

void CSensoryFrame::internal_buildAuxPointsMap ( const void * options = nullptr ) const

protected

Internal method, used from buildAuxPointsMap()

Definition at line 300 of file CSensoryFrame.cpp.

References begin(), end(), IS_CLASS, m_cachedMap, and mrpt::obs::ptr_internal_build_points_map_from_scan2D.

Referenced by buildAuxPointsMap().

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◆ moveFrom()

void CSensoryFrame::moveFrom ( CSensoryFrame & sf )

Copies all the observation from another object, then erase them from the origin object (this method is fast since only pointers are copied); Previous objects in this objects are not deleted.

See also: operator +=

Definition at line 248 of file CSensoryFrame.cpp.

References m_cachedMap, and m_observations.

Referenced by mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH().

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◆ operator delete() [1/3]

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

inlinenoexcept

Definition at line 56 of file CSensoryFrame.h.

◆ operator delete() [2/3]

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

inlinenoexcept

Definition at line 56 of file CSensoryFrame.h.

◆ operator delete() [3/3]

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

inlinenoexcept

Definition at line 56 of file CSensoryFrame.h.

◆ operator delete[]()

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

inlinenoexcept

Definition at line 56 of file CSensoryFrame.h.

◆ operator new() [1/3]

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

inline

Definition at line 56 of file CSensoryFrame.h.

◆ operator new() [2/3]

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

inlinenoexcept

Definition at line 56 of file CSensoryFrame.h.

◆ operator new() [3/3]

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

inlinestatic

Definition at line 56 of file CSensoryFrame.h.

◆ operator new[]()

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

inline

Definition at line 56 of file CSensoryFrame.h.

◆ operator+=() [1/2]

void CSensoryFrame::operator+= ( const CSensoryFrame & sf )

You can use "sf1+=sf2;" to add observations in sf2 to sf1.

Objects are copied, not referenced, thus the source can be safely deleted next.

See also: moveFrom

Definition at line 139 of file CSensoryFrame.cpp.

References begin(), end(), m_cachedMap, m_observations, and MRPT_UNUSED_PARAM.

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◆ operator+=() [2/2]

void CSensoryFrame::operator+= ( const CObservation::Ptr & obs )

You can use "sf+=obs;" to add the observation "obs" to the "sf1".

Objects are copied, using the smart pointer, thus the original pointer can be safely deleted next.

See also: moveFrom

Definition at line 155 of file CSensoryFrame.cpp.

References m_cachedMap, and m_observations.

◆ operator=()

CSensoryFrame & CSensoryFrame::operator= ( const CSensoryFrame & o )

Copy.

Definition at line 44 of file CSensoryFrame.cpp.

References clear(), m_cachedMap, m_observations, MRPT_END, and MRPT_START.

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◆ push_back()

void CSensoryFrame::push_back ( const CObservation::Ptr & obs )

Inserts a new observation to the list: The pointer to the objects is copied, thus DO NOT delete the passed object, this class will do at destructor or when appropriate.

Definition at line 164 of file CSensoryFrame.cpp.

References m_cachedMap, and m_observations.

◆ readFromStream()

void CSensoryFrame::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 94 of file CSensoryFrame.cpp.

References clear(), INVALID_TIMESTAMP, m_cachedMap, m_observations, MRPT_END, MRPT_START, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

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◆ size()

size_t mrpt::obs::CSensoryFrame::size ( ) const

inline

Returns the number of observations in the list.

Definition at line 291 of file CSensoryFrame.h.

References m_observations.

Referenced by eraseByIndex(), getObservationByIndex(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

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◆ swap()

void CSensoryFrame::swap ( CSensoryFrame & sf )

Efficiently swaps the contents of two objects.

Definition at line 260 of file CSensoryFrame.cpp.

References m_cachedMap, and m_observations.

◆ 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 CSensoryFrame::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 77 of file CSensoryFrame.cpp.

References m_observations.

Member Data Documentation

◆ _init_CSensoryFrame

mrpt::utils::CLASSINIT mrpt::obs::CSensoryFrame::_init_CSensoryFrame

staticprotected

Definition at line 56 of file CSensoryFrame.h.

◆ className

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

static

Definition at line 56 of file CSensoryFrame.h.

◆ m_cachedMap

mrpt::maps::CMetricMap::Ptr mrpt::obs::CSensoryFrame::m_cachedMap

mutableprotected

A points map, build only under demand by the methods getAuxPointsMap() and buildAuxPointsMap().

It's a generic smart pointer to avoid depending here in the library mrpt-obs on classes on other libraries.

Definition at line 75 of file CSensoryFrame.h.

Referenced by buildAuxPointsMap(), clear(), erase(), eraseByIndex(), eraseByLabel(), getAuxPointsMap(), insert(), internal_buildAuxPointsMap(), moveFrom(), operator+=(), operator=(), push_back(), readFromStream(), and swap().

◆ m_observations

std::deque<CObservation::Ptr> mrpt::obs::CSensoryFrame::m_observations

protected

The set of observations taken at the same time instant.

See the top of this page for instructions on accessing this.

Definition at line 357 of file CSensoryFrame.h.

Referenced by begin(), clear(), empty(), end(), erase(), eraseByIndex(), insert(), moveFrom(), operator+=(), operator=(), push_back(), readFromStream(), size(), swap(), and writeToStream().

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::obs::CSensoryFrame::runtimeClassId

staticprotected

Definition at line 56 of file CSensoryFrame.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

RTTI stuff

Cached points map

Member Typedef Documentation

◆ const_iterator

◆ ConstPtr

◆ iterator

◆ Ptr

Constructor & Destructor Documentation

◆ CSensoryFrame() [1/2]

◆ CSensoryFrame() [2/2]

◆ ~CSensoryFrame()

Member Function Documentation

◆ _GetBaseClass()

◆ begin() [1/2]

◆ begin() [2/2]

◆ buildAuxPointsMap()

◆ clear()

◆ clone()

◆ Create()

◆ CreateObject()

◆ empty()

◆ end() [1/2]

◆ end() [2/2]

◆ erase()

◆ eraseByIndex()

◆ eraseByLabel()

◆ getAuxPointsMap()

◆ getObservationByClass()

◆ getObservationByIndex()

◆ getObservationByIndexAs()

◆ getObservationBySensorLabel()

◆ getObservationBySensorLabelAs()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ insert()

◆ insertObservationsInto() [1/2]

◆ insertObservationsInto() [2/2]

◆ internal_buildAuxPointsMap()

◆ moveFrom()

◆ 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[]()

◆ operator+=() [1/2]

◆ operator+=() [2/2]

◆ operator=()

◆ push_back()

◆ readFromStream()

◆ size()

◆ swap()

◆ writeToMatlab()

◆ writeToStream()

Member Data Documentation

◆ _init_CSensoryFrame

◆ className

◆ m_cachedMap

◆ m_observations

◆ runtimeClassId