MRPT  1.9.9
CObservation6DFeatures.h
Go to the documentation of this file.
1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
11 #include <mrpt/obs/CObservation.h>
12 #include <mrpt/poses/CPose3D.h>
14 #include <deque>
15 
16 namespace mrpt::obs
17 {
18 /** An observation of one or more "features" or "objects", possibly identified
19  * with a unique ID, whose relative SE(3) pose is observed with respect to the
20  * sensor.
21  * The list of features is stored in \a sensedFeatures
22  * \sa CObservation
23  * \ingroup mrpt_obs_grp
24  */
26 {
28  public:
29  /** Default ctor */
31 
32  /** Information about the sensor */
34 
35  /** Each one of the measurements */
36  struct TMeasurement
37  {
38  /** The observed feature SE(3) pose with respect to the sensor */
40  /** The feature ID, or INVALID_LANDMARK_ID if unidentified (default) */
42  /** The inverse of the observation covariance matrix (default:all zeros)
43  */
45 
46  /** Ctor with default values */
47  TMeasurement();
48 
49  // Required because we contain Eigen
50  // matrices
51  };
52  /** The list of observed features */
53  std::deque<TMeasurement> sensedFeatures;
54 
55  /** The pose of the sensor on the robot/vehicle */
57 
58  void getSensorPose(mrpt::poses::CPose3D& out_sensorPose)
59  const override; // See base class docs.
60  void setSensorPose(const mrpt::poses::CPose3D& newSensorPose)
61  override; // See base class docs.
63  std::ostream& o) const override; // See base class docs
64 
65 }; // End of class def.
66 
67 } // namespace mrpt::obs
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) override
A general method to change the sensor pose on the robot.
A compile-time fixed-size numeric matrix container.
Definition: CMatrixFixed.h:33
void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
mrpt::poses::CPose3D sensorPose
The pose of the sensor on the robot/vehicle.
float minSensorDistance
Information about the sensor.
mrpt::poses::CPose3D pose
The observed feature SE(3) pose with respect to the sensor.
This namespace contains representation of robot actions and observations.
std::deque< TMeasurement > sensedFeatures
The list of observed features.
__int32 int32_t
Definition: rptypes.h:49
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:84
Declares a class that represents any robot&#39;s observation.
Definition: CObservation.h:43
An observation of one or more "features" or "objects", possibly identified with a unique ID...
mrpt::math::CMatrixDouble66 inf_matrix
The inverse of the observation covariance matrix (default:all zeros)
int32_t id
The feature ID, or INVALID_LANDMARK_ID if unidentified (default)
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override
A general method to retrieve the sensor pose on the robot.
CObservation6DFeatures()
Default ctor.



Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: 034c2ee2a Tue Aug 20 02:15:02 2019 +0200 at mar ago 20 02:20:10 CEST 2019