MRPT  2.0.4
CObservationRobotPose.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, 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>
14 
15 namespace mrpt::obs
16 {
17 /** An observation providing an alternative robot pose from an external source.
18  * \sa CObservation
19  * \ingroup mrpt_obs_grp
20  */
22 {
24  public:
25  /** The observed robot pose */
27 
28  /** The pose of the sensor on the robot/vehicle */
30 
31  void getSensorPose(mrpt::poses::CPose3D& out_sensorPose)
32  const override; // See base class docs.
33  void setSensorPose(const mrpt::poses::CPose3D& newSensorPose)
34  override; // See base class docs.
36  std::ostream& o) const override; // See base class docs
37 
38 }; // End of class def.
39 
40 } // namespace mrpt::obs
An observation providing an alternative robot pose from an external source.
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) override
A general method to change the sensor pose on the robot.
mrpt::poses::CPose3D sensorPose
The pose of the sensor on the robot/vehicle.
This namespace contains representation of robot actions and observations.
mrpt::poses::CPose3DPDFGaussian pose
The observed robot pose.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:85
Declares a class that represents any robot&#39;s observation.
Definition: CObservation.h:43
void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
Declares a class that represents a Probability Density function (PDF) of a 3D pose ...
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override
A general method to retrieve the sensor pose on the robot.



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