class mrpt::obs::CObservationRange

Overview

Declares a class derived from “CObservation” that encapsules a single range measurement, and associated parameters.

This can be used for example to store measurements from infrared proximity sensors (IR) or ultrasonic sensors (sonars).

See also:

#include <mrpt/obs/CObservationRange.h>

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

    typedef std::shared_ptr<mrpt::obs ::CObservationRange> Ptr;
    typedef std::shared_ptr<const mrpt::obs ::CObservationRange> ConstPtr;
    typedef std::unique_ptr<mrpt::obs ::CObservationRange> UniquePtr;
    typedef std::unique_ptr<const mrpt::obs ::CObservationRange> ConstUniquePtr;
    typedef std::deque<TMeasurement> TMeasurementList;
    typedef std::deque<TMeasurement>::const_iterator const_iterator;
    typedef std::deque<TMeasurement>::iterator iterator;

    // structs

    struct TMeasurement;

    // fields

    static constexpr const char* className = "mrpt::obs" "::" "CObservationRange";
    float minSensorDistance {0};
    float maxSensorDistance {5};
    float sensorConeAperture = mrpt::d2f(20.0_deg);
    TMeasurementList sensedData;

    // construction

    CObservationRange();

    // 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;
    iterator begin();
    iterator end();
    const_iterator begin() const;
    const_iterator end() 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 ::CObservationRange> Ptr

A type for the associated smart pointer.

Fields

float minSensorDistance {0}

The data members.

float sensorConeAperture = mrpt::d2f(20.0_deg)

Cone aperture of each ultrasonic beam, in radians.

TMeasurementList sensedData

All the measurements.

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.