Detailed Description

Declares a class that represents any robot's observation.

This is a base class for many types of sensor observations. Users can add new observation types creating a new class deriving from this one.

IMPORTANT: Observations don't include any information about the robot pose, just raw sensory data and, where aplicable, information about the sensor position and orientation in the local frame of the robot.

See also: CSensoryFrame, CMetricMap

Definition at line 61 of file CObservation.h.

#include <mrpt/slam/CObservation.h>

Inheritance diagram for mrpt::slam::CObservation:

[legend]

Public Member Functions
	CObservation ()
	Constructor: It sets the initial timestamp to current time. More...

template<class METRICMAP >
bool	insertObservationInto (METRICMAP theMap, const CPose3D robotPose=NULL) const
	This method is equivalent to: More...

virtual void	getSensorPose (CPose3D &out_sensorPose) const =0
	A general method to retrieve the sensor pose on the robot. More...

void	getSensorPose (mrpt::math::TPose3D &out_sensorPose) const
	A general method to retrieve the sensor pose on the robot. More...

virtual void	setSensorPose (const CPose3D &newSensorPose)=0
	A general method to change the sensor pose on the robot. More...

void	setSensorPose (const mrpt::math::TPose3D &newSensorPose)
	A general method to change the sensor pose on the robot. More...

virtual CObject *	duplicate () const =0
	Returns a copy of the object, indepently of its class. More...

mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

CObject *	clone () const
	Cloning interface for smart pointers. More...

Delayed-load manual control methods.
virtual void	load () const
	Makes sure all images and other fields which may be externally stored are loaded in memory. More...

virtual void	unload ()
	Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect). More...

Public Attributes
Data common to any observation
mrpt::system::TTimeStamp	timestamp
	The associated time-stamp. More...

std::string	sensorLabel
	An arbitrary label that can be used to identify the sensor. More...

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
void	swap (CObservation &o)
	Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data. More...

virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream. More...

virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCObservation

class	mrpt::utils::CStream

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime. More...

Constructor & Destructor Documentation

◆ CObservation()

mrpt::slam::CObservation::CObservation ( )

Constructor: It sets the initial timestamp to current time.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservation::_GetBaseClass ( )

staticprotected

◆ clone()

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 135 of file CObject.h.

◆ duplicate()

virtual CObject* mrpt::utils::CObject::duplicate ( ) const

pure virtualinherited

Returns a copy of the object, indepently of its class.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 132 of file CObject.h.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservation::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ getSensorPose() [1/2]

virtual void mrpt::slam::CObservation::getSensorPose ( CPose3D & out_sensorPose ) const

pure virtual

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.

See also: setSensorPose

◆ getSensorPose() [2/2]

void mrpt::slam::CObservation::getSensorPose ( mrpt::math::TPose3D & out_sensorPose ) 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.

See also: setSensorPose

◆ insertObservationInto()

template<class METRICMAP >

bool mrpt::slam::CObservation::insertObservationInto	(	METRICMAP *	theMap,
		const CPose3D *	robotPose = `NULL`
	)		const

inline

This method is equivalent to:

map->insertObservation(this, robotPose)

Parameters

theMap	The map where this observation is to be inserted: the map will be updated.
robotPose	The pose of the robot base for this observation, relative to the target metric map. Set to NULL (default) to use (0,0,0deg)

Returns: Returns true if the map has been updated, or false if this observations has nothing to do with a metric map (for example, a sound observation).

See also: CMetricMap, CMetricMap::insertObservation

Definition at line 102 of file CObservation.h.

◆ load()

virtual void mrpt::slam::CObservation::load ( ) const

inlinevirtual

Makes sure all images and other fields which may be externally stored are loaded in memory.

Note that for all CImages, calling load() is not required since the images will be automatically loaded upon first access, so load() shouldn't be needed to be called in normal cases by the user. If all the data were alredy loaded or this object has no externally stored data fields, calling this method has no effects.

See also: unload

Reimplemented in mrpt::slam::CObservation3DRangeScan.

Definition at line 139 of file CObservation.h.

◆ readFromStream()

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

protectedpure virtualinherited

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any error, see CStream::ReadBuffer

See also: CStream

◆ setSensorPose() [1/2]

virtual void mrpt::slam::CObservation::setSensorPose ( const CPose3D & newSensorPose )

pure virtual

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See also: getSensorPose

◆ setSensorPose() [2/2]

void mrpt::slam::CObservation::setSensorPose ( const mrpt::math::TPose3D & newSensorPose )

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See also: getSensorPose

◆ swap()

void mrpt::slam::CObservation::swap ( CObservation & o )

protected

Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data.

◆ unload()

virtual void mrpt::slam::CObservation::unload ( )

inlinevirtual

Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).

See also: load

Reimplemented in mrpt::slam::CObservation3DRangeScan.

Definition at line 143 of file CObservation.h.

◆ writeToStream()

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedpure virtualinherited

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Friends And Related Function Documentation

◆ mrpt::utils::CStream

friend class mrpt::utils::CStream

friend

Definition at line 64 of file CObservation.h.

Member Data Documentation

◆ classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 120 of file CObject.h.

◆ classCObservation

const mrpt::utils::TRuntimeClassId mrpt::slam::CObservation::classCObservation

static

Definition at line 64 of file CObservation.h.

◆ classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 35 of file CSerializable.h.

◆ sensorLabel

std::string mrpt::slam::CObservation::sensorLabel

An arbitrary label that can be used to identify the sensor.

Definition at line 80 of file CObservation.h.

◆ timestamp

mrpt::system::TTimeStamp mrpt::slam::CObservation::timestamp

The associated time-stamp.

Definition at line 76 of file CObservation.h.

Detailed Description

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

RTTI stuff

Constructor & Destructor Documentation

◆ CObservation()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ GetRuntimeClass()

◆ getSensorPose() [1/2]

◆ getSensorPose() [2/2]

◆ insertObservationInto()

◆ load()

◆ readFromStream()

◆ setSensorPose() [1/2]

◆ setSensorPose() [2/2]

◆ swap()

◆ unload()

◆ writeToStream()

Friends And Related Function Documentation

◆ mrpt::utils::CStream

Member Data Documentation

◆ classCObject

◆ classCObservation

◆ classCSerializable

◆ sensorLabel

◆ timestamp