Detailed Description

Declares a class that represents any robot's observation.

This is a base class for many types of sensor observations. Users can add new observation types creating a new class deriving from this one.

IMPORTANT: Observations don't include any information about the robot pose, just raw sensory data and, where aplicable, information about the sensor position and orientation in the local frame of the robot.

See also: CSensoryFrame, CMetricMap

Definition at line 43 of file CObservation.h.

#include <mrpt/obs/CObservation.h>

Inheritance diagram for mrpt::obs::CObservation:

Public Member Functions
	CObservation ()=default
	Constructor: It sets the initial timestamp to current time. More...

template<class METRICMAP >
bool	insertObservationInto (METRICMAP theMap, const mrpt::poses::CPose3D robotPose=nullptr) const
	This method is equivalent to: More...

virtual void	getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const =0
	A general method to retrieve the sensor pose on the robot. More...

void	getSensorPose (mrpt::math::TPose3D &out_sensorPose) const
	A general method to retrieve the sensor pose on the robot. More...

virtual void	setSensorPose (const mrpt::poses::CPose3D &newSensorPose)=0
	A general method to change 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 void	getDescriptionAsText (std::ostream &o) const
	Build a detailed, multi-line textual description of the observation contents and dump it to the output stream. 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...

virtual CObject *	clone () const =0
	Returns a deep copy (clone) of the object, indepently of its 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 for polymorphic hierarchies
mrpt::rtti::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...

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
virtual uint8_t	serializeGetVersion () const =0
	Must return the current versioning number of the object. More...

virtual void	serializeTo (CArchive &out) const =0
	Pure virtual method for writing (serializing) to an abstract archive. More...

virtual void	serializeFrom (CArchive &in, uint8_t serial_version)=0
	Pure virtual method for reading (deserializing) from an abstract archive. More...

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

using	ConstPtr = std::shared_ptr< const CObservation >

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

Data common to any observation
mrpt::system::TTimeStamp	timestamp {mrpt::system::now()}
	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...

Member Typedef Documentation

◆ ConstPtr

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

Definition at line 45 of file CObservation.h.

◆ Ptr

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

Definition at line 45 of file CObservation.h.

Constructor & Destructor Documentation

◆ CObservation()

mrpt::obs::CObservation::CObservation ( )

default

Constructor: It sets the initial timestamp to current time.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::obs::CObservation::_GetBaseClass ( )

staticprotected

◆ clone()

virtual CObject* mrpt::rtti::CObject::clone ( ) const

pure virtualinherited

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

Referenced by mrpt::rtti::CObject::duplicateGetSmartPtr(), mrpt::maps::CSimpleMap::insert(), mrpt::obs::CActionCollection::insert(), and mrpt::poses::CPoseRandomSampler::setPosePDF().

◆ duplicateGetSmartPtr()

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

inlineinherited

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).

Definition at line 168 of file CObject.h.

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

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

◆ getDescriptionAsText()

void CObservation::getDescriptionAsText ( std::ostream & o ) const

virtual

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

Definition at line 44 of file CObservation.cpp.

References mrpt::system::dateTimeToString(), and mrpt::system::timestampTotime_t().

◆ getOriginalReceivedTimeStamp()

virtual mrpt::system::TTimeStamp mrpt::obs::CObservation::getOriginalReceivedTimeStamp ( ) const

inlinevirtual

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 71 of file CObservation.h.

References timestamp.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::obs::CObservation::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::CObservation::GetRuntimeClassIdStatic ( )

static

◆ getSensorPose() [1/2]

virtual void mrpt::obs::CObservation::getSensorPose ( mrpt::poses::CPose3D & out_sensorPose ) const

pure virtual

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

◆ getSensorPose() [2/2]

void CObservation::getSensorPose ( mrpt::math::TPose3D & out_sensorPose ) const

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 26 of file CObservation.cpp.

◆ getTimeStamp()

mrpt::system::TTimeStamp mrpt::obs::CObservation::getTimeStamp ( ) const

inline

Returns CObservation::timestamp for all kind of observations.

See also: getOriginalReceivedTimeStamp()

Definition at line 66 of file CObservation.h.

References timestamp.

◆ insertObservationInto()

template<class METRICMAP >

bool mrpt::obs::CObservation::insertObservationInto	(	METRICMAP *	theMap,
		const mrpt::poses::CPose3D *	robotPose = `nullptr`
	)		const

inline

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 99 of file CObservation.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference().

◆ load()

virtual void mrpt::obs::CObservation::load ( ) const

inlinevirtual

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 154 of file CObservation.h.

◆ serializeFrom()

virtual void mrpt::serialization::CSerializable::serializeFrom	(	CArchive &	in,
		uint8_t	serial_version
	)

protectedpure virtualinherited

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

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

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 I/O error

◆ serializeGetVersion()

virtual uint8_t mrpt::serialization::CSerializable::serializeGetVersion ( ) const

protectedpure virtualinherited

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.

Referenced by mrpt::serialization::CArchive::WriteObject().

◆ serializeTo()

virtual void mrpt::serialization::CSerializable::serializeTo ( CArchive & out ) const

protectedpure virtualinherited

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

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

Exceptions

std::exception On any I/O error

Referenced by mrpt::serialization::CArchive::WriteObject().

◆ setSensorPose() [1/2]

virtual void mrpt::obs::CObservation::setSensorPose ( const mrpt::poses::CPose3D & newSensorPose )

pure virtual

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

◆ setSensorPose() [2/2]

void CObservation::setSensorPose ( const mrpt::math::TPose3D & newSensorPose )

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 33 of file CObservation.cpp.

◆ swap()

void CObservation::swap ( CObservation & o )

protected

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 38 of file CObservation.cpp.

References sensorLabel, and timestamp.

Referenced by mrpt::obs::CObservationStereoImages::swap(), and mrpt::obs::CObservation3DRangeScan::swap().

◆ unload()

virtual void mrpt::obs::CObservation::unload ( )

inlinevirtual

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 161 of file CObservation.h.

◆ 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 68 of file CSerializable.h.

Member Data Documentation

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::obs::CObservation::runtimeClassId

staticprotected

Definition at line 45 of file CObservation.h.

◆ sensorLabel

std::string mrpt::obs::CObservation::sensorLabel

An arbitrary label that can be used to identify the sensor.

Definition at line 62 of file CObservation.h.

◆ timestamp

mrpt::system::TTimeStamp mrpt::obs::CObservation::timestamp {mrpt::system::now()}

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 60 of file CObservation.h.

Detailed Description

Public Member Functions

Protected Member Functions

RTTI stuff

Data common to any observation

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CObservation()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ duplicateGetSmartPtr()

◆ getDescriptionAsText()

◆ getOriginalReceivedTimeStamp()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getSensorPose() [1/2]

◆ getSensorPose() [2/2]

◆ getTimeStamp()

◆ insertObservationInto()

◆ load()

◆ serializeFrom()

◆ serializeGetVersion()

◆ serializeTo()

◆ setSensorPose() [1/2]

◆ setSensorPose() [2/2]

◆ swap()

◆ unload()

◆ writeToMatlab()

Member Data Documentation

◆ runtimeClassId

◆ sensorLabel

◆ timestamp