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C++ reference for MRPT 1.5.6
lib_mrpt_obs.h
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/* +---------------------------------------------------------------------------+
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| Mobile Robot Programming Toolkit (MRPT) |
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| http://www.mrpt.org/ |
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| |
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| Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
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| See: http://www.mrpt.org/Authors - All rights reserved. |
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| Released under BSD License. See details in http://www.mrpt.org/License |
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+---------------------------------------------------------------------------+ */
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/** \defgroup mrpt_obs_grp [mrpt-obs]
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<small> <a href="index.html#libs">Back to list of all libraries</a> | <a href="modules.html" >See all modules</a> </small>
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<br>
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<h2>Library <code>mrpt-obs</code></h2>
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<hr>
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In this library there are <b>five</b> key elements or groups of elements:
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<ul>
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<li><b>Sensor observations:</b> All sensor observations share a common virtual base
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class (mrpt::obs::CObservation). There are classes to store laser scanners, 3D range images,
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monocular and stereo images, GPS data, odometry, etc. A concept very related to observations
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is a mrpt::obs::CSensoryFrame, a set of observations which were collected approximately at the same instant. </li>
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<li><b>Rawlogs (datasets):</b> A robotics dataset can be loaded, edited and explored by means
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of the class mrpt::obs::CRawlog. See also: http://www.mrpt.org/Rawlog_Format </li>
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<li><b>Actions:</b> For convenience in many Bayesian filtering algorithms, robot actions
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(like 2D displacement characterized by an odometry increment) can be represented by means
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of "actions". See mrpt::obs::CAction.</li>
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<li><b>"Simple maps":</b> In MRPT, a "simple map" is a set of pairs: "position", "sensory frames" (read above).
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The advantage of maintaining such a "simple map" instead a metric map is that the metric maps
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can be rebuilt when needed with different parameters from the raw observations, which are never lost. </li>
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<li><b>CARMEN logs tools:</b> Utilities to read from CARMEN log files and load the observations there
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as MRPT observations. See mrpt::obs::carmen_log_parse_line and the applications: carmen2rawlog, carmen2simplemap. </li>
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</ul>
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See the list of classes in mrpt::obs
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*/
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