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mrpt::slam::CObservationBeaconRanges Class Reference

Detailed Description

Declares a class derived from "CObservation" that represents one (or more) range measurements to labeled beacons.

See also
CObservation

Definition at line 28 of file CObservationBeaconRanges.h.

#include <mrpt/slam/CObservationBeaconRanges.h>

Inheritance diagram for mrpt::slam::CObservationBeaconRanges:
Inheritance graph
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Classes

struct  TMeasurement
 Each one of the measurements: More...
 

Public Member Functions

 CObservationBeaconRanges ()
 Default constructor. More...
 
void debugPrintOut ()
 Prints out the contents of the object. More...
 
void getSensorPose (CPose3D &out_sensorPose) const
 A general method to retrieve the sensor pose on the robot. More...
 
void setSensorPose (const CPose3D &newSensorPose)
 A general method to change the sensor pose on the robot. More...
 
float getSensedRangeByBeaconID (int32_t beaconID)
 Easy look-up into the vector sensedData, returns the range for a given beacon, or 0 if the beacon is not observed. More...
 
template<class METRICMAP >
bool insertObservationInto (METRICMAP *theMap, const CPose3D *robotPose=NULL) const
 This method is equivalent to: More...
 
void getSensorPose (mrpt::math::TPose3D &out_sensorPose) const
 A general method to retrieve 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...
 
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...
 
CObjectclone () 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

float minSensorDistance
 Information about the sensor: More...
 
float maxSensorDistance
 
float stdError
 The "sigma" of the sensor, assuming a zero-mean Gaussian noise model. More...
 
std::deque< TMeasurementsensedData
 The list of observed ranges: More...
 
CPose2D auxEstimatePose
 The (X,Y,PHI) pose estimated by the UWB software, for comparison purposes (Added in streamming version 1) More...
 
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 classCObservation
 
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...
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const
 Introduces a pure virtual method responsible for writing to a CStream. More...
 
void readFromStream (mrpt::utils::CStream &in, int version)
 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

typedef CObservationBeaconRangesPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CObservationBeaconRanges
 
static mrpt::utils::TRuntimeClassId classCObservationBeaconRanges
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class. More...
 
static mrpt::utils::CObjectCreateObject ()
 
static CObservationBeaconRangesPtr Create ()
 

Member Typedef Documentation

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 31 of file CObservationBeaconRanges.h.

Constructor & Destructor Documentation

◆ CObservationBeaconRanges()

mrpt::slam::CObservationBeaconRanges::CObservationBeaconRanges ( )

Default constructor.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationBeaconRanges::_GetBaseClass ( )
staticprotected

◆ clone()

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

Cloning interface for smart pointers.

Definition at line 135 of file CObject.h.

◆ Create()

static CObservationBeaconRangesPtr mrpt::slam::CObservationBeaconRanges::Create ( )
static

◆ CreateObject()

static mrpt::utils::CObject* mrpt::slam::CObservationBeaconRanges::CreateObject ( )
static

◆ debugPrintOut()

void mrpt::slam::CObservationBeaconRanges::debugPrintOut ( )

Prints out the contents of the object.

◆ duplicate()

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

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

Implements mrpt::utils::CObject.

◆ 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::CObservationBeaconRanges::GetRuntimeClass ( ) const
virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CObservation.

◆ getSensedRangeByBeaconID()

float mrpt::slam::CObservationBeaconRanges::getSensedRangeByBeaconID ( int32_t  beaconID)

Easy look-up into the vector sensedData, returns the range for a given beacon, or 0 if the beacon is not observed.

◆ getSensorPose() [1/2]

void mrpt::slam::CObservationBeaconRanges::getSensorPose ( CPose3D out_sensorPose) const
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

Implements mrpt::slam::CObservation.

◆ getSensorPose() [2/2]

void mrpt::slam::CObservation::getSensorPose ( mrpt::math::TPose3D out_sensorPose) const
inherited

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
inlineinherited

This method is equivalent to:

map->insertObservation(this, robotPose)
Parameters
theMapThe map where this observation is to be inserted: the map will be updated.
robotPoseThe 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
inlinevirtualinherited

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()

void mrpt::slam::CObservationBeaconRanges::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protectedvirtual

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
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any error, see CStream::ReadBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

◆ setSensorPose() [1/2]

void mrpt::slam::CObservationBeaconRanges::setSensorPose ( const CPose3D newSensorPose)
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

Implements mrpt::slam::CObservation.

◆ setSensorPose() [2/2]

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

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)
protectedinherited

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 ( )
inlinevirtualinherited

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()

void mrpt::slam::CObservationBeaconRanges::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protectedvirtual

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
outThe output binary stream where object must be dumped.
getVersionIf 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::exceptionOn any error, see CStream::WriteBuffer
See also
CStream

Implements mrpt::utils::CSerializable.

Member Data Documentation

◆ _init_CObservationBeaconRanges

mrpt::utils::CLASSINIT mrpt::slam::CObservationBeaconRanges::_init_CObservationBeaconRanges
staticprotected

Definition at line 31 of file CObservationBeaconRanges.h.

◆ auxEstimatePose

CPose2D mrpt::slam::CObservationBeaconRanges::auxEstimatePose

The (X,Y,PHI) pose estimated by the UWB software, for comparison purposes (Added in streamming version 1)

Definition at line 72 of file CObservationBeaconRanges.h.

◆ 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
staticinherited

Definition at line 64 of file CObservation.h.

◆ classCObservationBeaconRanges

mrpt::utils::TRuntimeClassId mrpt::slam::CObservationBeaconRanges::classCObservationBeaconRanges
static

Definition at line 31 of file CObservationBeaconRanges.h.

◆ classCSerializable

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

Definition at line 35 of file CSerializable.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationBeaconRanges::classinfo
static

Definition at line 31 of file CObservationBeaconRanges.h.

◆ maxSensorDistance

float mrpt::slam::CObservationBeaconRanges::maxSensorDistance

Definition at line 40 of file CObservationBeaconRanges.h.

◆ minSensorDistance

float mrpt::slam::CObservationBeaconRanges::minSensorDistance

Information about the sensor:

Definition at line 40 of file CObservationBeaconRanges.h.

◆ sensedData

std::deque<TMeasurement> mrpt::slam::CObservationBeaconRanges::sensedData

The list of observed ranges:

Definition at line 68 of file CObservationBeaconRanges.h.

◆ sensorLabel

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

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

Definition at line 80 of file CObservation.h.

◆ stdError

float mrpt::slam::CObservationBeaconRanges::stdError

The "sigma" of the sensor, assuming a zero-mean Gaussian noise model.

Definition at line 44 of file CObservationBeaconRanges.h.

◆ timestamp

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

The associated time-stamp.

Definition at line 76 of file CObservation.h.




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