CObservationBeaconRanges.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef CObservationBeaconRanges_H
#define CObservationBeaconRanges_H
 
#include <mrpt/serialization/CSerializable.h>
#include <mrpt/obs/CObservation.h>
#include <mrpt/poses/CPoint3D.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/poses/CPose3D.h>
 
namespace mrpt
{
namespace obs
{
/** Declares a class derived from "CObservation" that represents one (or more)
 * range measurements to labeled beacons.
 * \sa CObservation
 * \ingroup mrpt_obs_grp
 */
class CObservationBeaconRanges : public CObservation
{
        DEFINE_SERIALIZABLE(CObservationBeaconRanges)
 
   public:
        /** ctor */
        CObservationBeaconRanges();
 
        /** Info about sensor */
        float minSensorDistance, maxSensorDistance;
        /** The "sigma" of the sensor, assuming a zero-mean Gaussian noise model. */
        float stdError;
 
        /** Each one of the measurements */
        struct TMeasurement
        {
                TMeasurement()
                        : sensorLocationOnRobot(),
                          sensedDistance(0),
                          beaconID(INVALID_BEACON_ID)
                {
                }
 
                /** Position of the sensor on the robot */
                mrpt::poses::CPoint3D sensorLocationOnRobot;
                /** The sensed range itself (in meters). */
                float sensedDistance;
                /** The ID of the sensed beacon (or INVALID_BEACON_ID if unknown) */
                int32_t beaconID;
        };
 
        /** The list of observed ranges */
        std::deque<TMeasurement> sensedData;
 
        /** The (X,Y,PHI) pose estimated by the UWB software, for comparison
         * purposes (Added in streamming version 1) */
        mrpt::poses::CPose2D auxEstimatePose;
 
        /** Prints out the contents of the object  */
        void debugPrintOut();
 
        void getSensorPose(mrpt::poses::CPose3D& out_sensorPose)
                const override;  // See base class docs.
        void setSensorPose(const mrpt::poses::CPose3D& newSensorPose)
                override;  // See base class docs.
        void getDescriptionAsText(
                std::ostream& o) const override;  // See base class docs
 
        /** Easy look-up into the vector sensedData, returns the range for a given
         * beacon, or 0 if the beacon is not observed */
        float getSensedRangeByBeaconID(int32_t beaconID);
 
};  // End of class def.
 
}  // End of namespace
}  // End of namespace
 
#endif