CObservationReflectivity.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 CObservationReflectivity_H
#define CObservationReflectivity_H
 
#include <mrpt/obs/CObservation.h>
#include <mrpt/poses/CPose3D.h>
 
namespace mrpt
{
namespace obs
{
/** Declares a class derived from "CObservation" that encapsules a single
 * short-range reflectivity measurement.
 *    This can be used for example to store readings from IR sensors (Lego
 * Mindstorm NXT, etc...).
 *
 * \sa mrpt::obs::CReflectivityGridMap2D, CObservation
 * \ingroup mrpt_obs_grp
 */
class CObservationReflectivity : public CObservation
{
        DEFINE_SERIALIZABLE(CObservationReflectivity)
 
   public:
        /** The read reflectivity level, in the range [0,1] (0=black, 1=white).
          */
        float reflectivityLevel{0.5f};
 
        /** The channel for this observation. If channel=-1, it can be inserted into
         * any CReflectivityGridMap2D. Otherwise, it can only be inserted into
         * reflectivity maps with the same channel. (Default=-1)
                 */
        int16_t channel{-1};
 
        /** The pose of this sensor in robot's local coordinates.
          */
        mrpt::poses::CPose3D sensorPose;
 
        /** 1-sigma of the sensor Gaussian noise (in the same normalized units than
         * \a reflectivityLevel)
          */
        float sensorStdNoise{0.2f};
 
        // See base class docs
        void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const override
        {
                out_sensorPose = sensorPose;
        }
        void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) override
        {
                sensorPose = newSensorPose;
        }
        void getDescriptionAsText(std::ostream& o) const override;
 
};  // End of class def.
 
}  // End of namespace
}  // End of namespace
 
#endif