MRPT  1.9.9
mrpt::obs::CSensoryFrame Class Reference

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->(...)
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:

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

See also
CObservation

Definition at line 51 of file CSensoryFrame.h.

#include <mrpt/obs/CSensoryFrame.h>

Inheritance diagram for mrpt::obs::CSensoryFrame:

Public Types

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

Public Member Functions

voidoperator new (size_t size)
 
voidoperator new[] (size_t size)
 
void operator delete (void *ptr) noexcept
 
void operator delete[] (void *ptr) noexcept
 
void operator delete (void *memory, void *ptr) noexcept
 
voidoperator new (size_t size, const std::nothrow_t &) noexcept
 
void operator delete (void *ptr, const std::nothrow_t &) noexcept
 
 CSensoryFrame ()=default
 Default constructor. More...
 
 CSensoryFrame (const CSensoryFrame &)
 Copy constructor. More...
 
CSensoryFrameoperator= (const CSensoryFrame &o)
 Copy. 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 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 >
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 >
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 mxArraywriteToMatlab () 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 for polymorphic hierarchies
mrpt::rtti::CObject::Ptr duplicateGetSmartPtr () const
 Makes a deep copy of the object and returns a smart pointer to it. More...
 

Static Public Member Functions

static voidoperator new (size_t size, void *ptr)
 

Protected Member Functions

CSerializable virtual methods
uint8_t serializeGetVersion () const override
 Must return the current versioning number of the object. More...
 
void serializeTo (mrpt::serialization::CArchive &out) const override
 Pure virtual method for writing (serializing) to an abstract archive. More...
 
void serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 
CSerializable virtual methods
virtual void serializeTo (CSchemeArchiveBase &out) const
 Virtual method for writing (serializing) to an abstract schema based archive. More...
 
virtual void serializeFrom (CSchemeArchiveBase &in)
 Virtual method for reading (deserializing) from an abstract schema based archive. More...
 

Protected Attributes

std::deque< CObservation::Ptrm_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 >
 
using UniquePtr = std::unique_ptr< CSensoryFrame >
 
using ConstUniquePtr = std::unique_ptr< const CSensoryFrame >
 
static mrpt::rtti::CLASSINIT _init_CSensoryFrame
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "CSensoryFrame"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static mrpt::rtti::CObjectCreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
template<typename Alloc , typename... Args>
static Ptr CreateAlloc (const Alloc &alloc, Args &&... args)
 
template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () 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

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

Definition at line 221 of file CSensoryFrame.h.

◆ ConstPtr

◆ ConstUniquePtr

Definition at line 53 of file CSensoryFrame.h.

◆ iterator

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

Definition at line 217 of file CSensoryFrame.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 53 of file CSensoryFrame.h.

◆ UniquePtr

Definition at line 53 of file CSensoryFrame.h.

Constructor & Destructor Documentation

◆ CSensoryFrame() [1/2]

mrpt::obs::CSensoryFrame::CSensoryFrame ( )
default

Default constructor.

◆ CSensoryFrame() [2/2]

CSensoryFrame::CSensoryFrame ( const CSensoryFrame o)

Copy constructor.

Definition at line 26 of file CSensoryFrame.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::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:

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

Definition at line 235 of file CSensoryFrame.h.

References m_observations.

Referenced by mrpt::maps::CMetricMap::canComputeObservationsLikelihood().

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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:

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

Definition at line 261 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
optionsCan be nullptr to use default point maps' insertion options, or a pointer to a "CPointsMap::TInsertionOptions" structure to override some params. Usage:
sf->buildAuxPointsMap<mrpt::maps::CPointsMap>(&options or nullptr);
See also
getAuxPointsMap

Definition at line 106 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 42 of file CSensoryFrame.cpp.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::obs::CSensoryFrame::clone ( ) const
overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>
static Ptr mrpt::obs::CSensoryFrame::Create ( Args &&...  args)
inlinestatic

Definition at line 53 of file CSensoryFrame.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::obs::CSensoryFrame::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 53 of file CSensoryFrame.h.

◆ CreateObject()

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

◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::obs::CSensoryFrame::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 53 of file CSensoryFrame.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 170 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

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◆ empty()

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

Returns true if there are no observations in the list.

Definition at line 278 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:

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

Definition at line 248 of file CSensoryFrame.h.

References m_observations.

Referenced by mrpt::maps::CMetricMap::canComputeObservationsLikelihood().

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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:

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

Definition at line 274 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 182 of file CSensoryFrame.cpp.

References ASSERT_, MRPT_END, and MRPT_START.

◆ eraseByIndex()

void CSensoryFrame::eraseByIndex ( const size_t &  idx)

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

Definition at line 148 of file CSensoryFrame.cpp.

References ASSERT_, begin(), MRPT_END, MRPT_START, 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 222 of file CSensoryFrame.cpp.

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

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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:

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

Definition at line 88 of file CSensoryFrame.h.

References m_cachedMap.

◆ getClassName()

static constexpr auto mrpt::obs::CSensoryFrame::getClassName ( )
inlinestatic

Definition at line 53 of file CSensoryFrame.h.

◆ 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:

m_SF->getObservationByClass<CObservationImage>();

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

Definition at line 201 of file CSensoryFrame.h.

References MRPT_END, and MRPT_START.

Referenced by mrpt::hmtslam::CTopLCDetector_FabMap::OnNewPose(), and TEST().

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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 166 of file CSensoryFrame.cpp.

References begin(), MRPT_END, MRPT_START, 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 304 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 195 of file CSensoryFrame.cpp.

References mrpt::system::os::_strcmpi(), 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 326 of file CSensoryFrame.h.

References getObservationBySensorLabel().

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◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::obs::CSensoryFrame::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::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 139 of file CSensoryFrame.cpp.

Referenced by mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitions().

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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
theMapThe map where this observation is to be inserted: the map will be updated.
robotPoseThe 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 264 of file CSensoryFrame.cpp.

Referenced by mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), mrpt::maps::CMultiMetricMapPDF::insertObservation(), insertObservationsInto(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal().

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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
theMapThe map where this observation is to be inserted: the map will be updated.
robotPoseThe 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 161 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 250 of file CSensoryFrame.cpp.

References IS_CLASS, and mrpt::obs::ptr_internal_build_points_map_from_scan2D.

Referenced by buildAuxPointsMap().

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◆ operator delete() [1/3]

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

Definition at line 53 of file CSensoryFrame.h.

◆ operator delete() [2/3]

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

Definition at line 53 of file CSensoryFrame.h.

◆ operator delete() [3/3]

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

Definition at line 53 of file CSensoryFrame.h.

◆ operator delete[]()

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

Definition at line 53 of file CSensoryFrame.h.

◆ operator new() [1/3]

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

Definition at line 53 of file CSensoryFrame.h.

◆ operator new() [2/3]

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

Definition at line 53 of file CSensoryFrame.h.

◆ operator new() [3/3]

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

Definition at line 53 of file CSensoryFrame.h.

◆ operator new[]()

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

Definition at line 53 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.

Definition at line 105 of file CSensoryFrame.cpp.

References begin(), 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.

Definition at line 121 of file CSensoryFrame.cpp.

◆ operator=()

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

Copy.

Definition at line 31 of file CSensoryFrame.cpp.

References mrpt::containers::clear(), 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 130 of file CSensoryFrame.cpp.

◆ serializeFrom() [1/2]

void CSensoryFrame::serializeFrom ( mrpt::serialization::CArchive in,
uint8_t  serial_version 
)
overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 59 of file CSensoryFrame.cpp.

References mrpt::containers::clear(), INVALID_TIMESTAMP, MRPT_END, MRPT_START, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

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◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase in)
inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CSensoryFrame::serializeGetVersion ( ) const
overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 48 of file CSensoryFrame.cpp.

◆ serializeTo() [1/2]

void CSensoryFrame::serializeTo ( mrpt::serialization::CArchive out) const
overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 49 of file CSensoryFrame.cpp.

References ASSERT_, and mrpt::serialization::CArchive::WriteAs().

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◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase out) const
inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ size()

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

Returns the number of observations in the list.

Definition at line 276 of file CSensoryFrame.h.

References m_observations.

◆ swap()

void CSensoryFrame::swap ( CSensoryFrame sf)

Efficiently swaps the contents of two objects.

Definition at line 213 of file CSensoryFrame.cpp.

References m_cachedMap, and m_observations.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 90 of file CSerializable.h.

Member Data Documentation

◆ _init_CSensoryFrame

mrpt::rtti::CLASSINIT mrpt::obs::CSensoryFrame::_init_CSensoryFrame
staticprotected

Definition at line 53 of file CSensoryFrame.h.

◆ className

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

Definition at line 53 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 72 of file CSensoryFrame.h.

Referenced by buildAuxPointsMap(), getAuxPointsMap(), 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 342 of file CSensoryFrame.h.

Referenced by begin(), empty(), end(), operator=(), size(), and swap().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::obs::CSensoryFrame::runtimeClassId
staticprotected

Definition at line 53 of file CSensoryFrame.h.




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