class mrpt::obs::CObservation6DFeatures

Overview

An observation of one or more “features” or “objects”, possibly identified with a unique ID, whose relative SE(3) pose is observed with respect to the sensor.

The list of features is stored in sensedFeatures

See also:

CObservation

#include <mrpt/obs/CObservation6DFeatures.h>

class CObservation6DFeatures: public mrpt::obs::CObservation
{
public:
    // typedefs

    typedef std::shared_ptr<mrpt::obs ::CObservation6DFeatures> Ptr;
    typedef std::shared_ptr<const mrpt::obs ::CObservation6DFeatures> ConstPtr;
    typedef std::unique_ptr<mrpt::obs ::CObservation6DFeatures> UniquePtr;
    typedef std::unique_ptr<const mrpt::obs ::CObservation6DFeatures> ConstUniquePtr;

    // structs

    struct TMeasurement;

    // fields

    static constexpr const char* className = "mrpt::obs" "::" "CObservation6DFeatures";
    float minSensorDistance {0};
    float maxSensorDistance {1e6f};
    std::deque<TMeasurement> sensedFeatures;
    mrpt::poses::CPose3D sensorPose;

    // construction

    CObservation6DFeatures();

    // methods

    static constexpr auto getClassName();
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    static std::shared_ptr<CObject> CreateObject();

    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::TRuntimeClassId* GetRuntimeClass() const;
    virtual mrpt::rtti::CObject* clone() const;
    virtual mrpt::poses::CPose3D getSensorPose() const;
    virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose);
    virtual void getDescriptionAsText(std::ostream& o) const;
};

Inherited Members

public:
    // typedefs

    typedef std::shared_ptr<CObject> Ptr;
    typedef std::shared_ptr<const CObject> ConstPtr;
    typedef std::shared_ptr<CSerializable> Ptr;
    typedef std::shared_ptr<const CSerializable> ConstPtr;
    typedef std::shared_ptr<CObservation> Ptr;
    typedef std::shared_ptr<const CObservation> ConstPtr;

    // fields

    mrpt::system::TTimeStamp timestamp {mrpt::Clock::now()};
    std::string sensorLabel;

    // methods

    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    mrpt::system::TTimeStamp getTimeStamp() const;
    virtual mrpt::system::TTimeStamp getOriginalReceivedTimeStamp() const;
    void load() const;
    virtual void unload() const;
    virtual bool exportTxtSupported() const;
    virtual std::string exportTxtHeader() const;
    virtual std::string exportTxtDataRow() const;

    template <class METRICMAP>
    bool insertObservationInto(
        METRICMAP& theMap,
        const std::optional<const mrpt::poses::CPose3D>& robotPose = std::nullopt
        ) const;

    virtual mrpt::poses::CPose3D getSensorPose() const = 0;
    void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const;
    void getSensorPose(mrpt::math::TPose3D& out_sensorPose) const;
    mrpt::math::TPose3D sensorPose() const;
    virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) = 0;
    void setSensorPose(const mrpt::math::TPose3D& newSensorPose);
    virtual void getDescriptionAsText(std::ostream& o) const;
    virtual std::string asString() const;

Typedefs

typedef std::shared_ptr<mrpt::obs ::CObservation6DFeatures> Ptr

A type for the associated smart pointer.

Fields

float minSensorDistance {0}

Information about the sensor.

std::deque<TMeasurement> sensedFeatures

The list of observed features.

mrpt::poses::CPose3D sensorPose

The pose of the sensor on the robot/vehicle.

Construction

CObservation6DFeatures()

Default ctor.

Default constructor.

Methods

virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const

Returns information about the class of an object in runtime.

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

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

virtual mrpt::poses::CPose3D getSensorPose() 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.