class mrpt::obs::CObservationBearingRange

Overview

This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs.

This class can manage sensors that detect landmarks in a 2D plane (e.g. a laser scanner) or in the 3D space (e.g. a camera). There are two direction angles: yaw (azimuth) and pitch (negative elevation). For 2D sensors, the pitch must be always set to 0. See CObservationBearingRange::validCovariances for the instructions to fill the uncertainty covariances.

See also:

CObservation

#include <mrpt/obs/CObservationBearingRange.h>

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

    typedef std::shared_ptr<mrpt::obs ::CObservationBearingRange> Ptr;
    typedef std::shared_ptr<const mrpt::obs ::CObservationBearingRange> ConstPtr;
    typedef std::unique_ptr<mrpt::obs ::CObservationBearingRange> UniquePtr;
    typedef std::unique_ptr<const mrpt::obs ::CObservationBearingRange> ConstUniquePtr;
    typedef std::vector<TMeasurement> TMeasurementList;

    // structs

    struct TMeasurement;

    // fields

    static constexpr const char* className = "mrpt::obs" "::" "CObservationBearingRange";
    float minSensorDistance {0};
    float maxSensorDistance {0};
    float fieldOfView_yaw = mrpt::d2f(180.0_deg);
    float fieldOfView_pitch = mrpt::d2f(90.0_deg);
    mrpt::poses::CPose3D sensorLocationOnRobot;
    TMeasurementList sensedData;
    bool validCovariances {false};
    float sensor_std_range {0};
    float sensor_std_yaw {0};
    float sensor_std_pitch {0};

    // construction

    CObservationBearingRange();

    // 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;
    void debugPrintOut();
    virtual mrpt::poses::CPose3D getSensorPose() const;
    virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose);
    virtual void getDescriptionAsText(std::ostream& o) const;
    virtual bool exportTxtSupported() const;
    virtual std::string exportTxtHeader() const;
    virtual std::string exportTxtDataRow() 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 ::CObservationBearingRange> Ptr

A type for the associated smart pointer.

Fields

float fieldOfView_yaw = mrpt::d2f(180.0_deg)

Information about the.

sensor: Ranges, in meters (0: there is no limits) Information about the sensor: The “field-of-view” of the sensor, in radians (for yaw ).

float fieldOfView_pitch = mrpt::d2f(90.0_deg)

Information about the sensor: The “field-of-view” of the sensor, in radians (for pitch ).

mrpt::poses::CPose3D sensorLocationOnRobot

The position of the sensor on the robot.

TMeasurementList sensedData

The list of observed ranges:

bool validCovariances {false}

True: The individual 3x3 covariance matrices must be taken into account, false (default): All the measurements have identical, diagonal 3x3 covariance matrices given by the values sensor_std_range,sensor_std_yaw,sensor_std_pitch.

float sensor_std_range {0}

Taken into account only if validCovariances=false: the standard deviation of the sensor noise model for range,yaw and pitch (in meters and radians).

If validCovariances=true, these 3 values are ignored and the individual 3x3 covariance matrices contain the actual uncertainties for each of the detected landmarks.

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.

void debugPrintOut()

Prints out the contents of the object.

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.