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CObservationRobotPose.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef CObservationRobotPose_H
10 #define CObservationRobotPose_H
11 
13 #include <mrpt/obs/CObservation.h>
15 
16 namespace mrpt
17 {
18 namespace obs
19 {
20  DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationRobotPose, CObservation, OBS_IMPEXP )
21 
22  /** An observation providing an alternative robot pose from an external source.
23  * \sa CObservation
24  * \ingroup mrpt_obs_grp
25  */
27  {
28  // This must be added to any CSerializable derived class:
30  public:
31  CObservationRobotPose( ); //!< Default ctor
32 
33  mrpt::poses::CPose3DPDFGaussian pose; //!< The observed robot pose
34 
35  mrpt::poses::CPose3D sensorPose; //!< The pose of the sensor on the robot/vehicle
36 
37  void getSensorPose( mrpt::poses::CPose3D &out_sensorPose ) const MRPT_OVERRIDE;// See base class docs.
38  void setSensorPose( const mrpt::poses::CPose3D &newSensorPose ) MRPT_OVERRIDE;// See base class docs.
39  void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE;// See base class docs
40 
41  }; // End of class def.
42  DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CObservationRobotPose, CObservation, OBS_IMPEXP )
43 
44  } // End of namespace
45 } // End of namespace
46 
47 #endif
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
An observation providing an alternative robot pose from an external source.
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
Declares a class that represents any robot's observation.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)



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