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obs/CObservation6DFeatures.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 CObservation6DFeatures_H
10 #define CObservation6DFeatures_H
11 
13 #include <mrpt/obs/CObservation.h>
14 #include <mrpt/poses/CPose3D.h>
16 
17 namespace mrpt
18 {
19 namespace obs
20 {
21  DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservation6DFeatures, CObservation, OBS_IMPEXP )
22 
23  /** An observation of one or more "features" or "objects", possibly identified with a unique ID, whose relative SE(3) pose is observed with respect to the sensor.
24  * The list of features is stored in \a sensedFeatures
25  * \sa CObservation
26  * \ingroup mrpt_obs_grp
27  */
29  {
30  // This must be added to any CSerializable derived class:
32  public:
33  CObservation6DFeatures( ); //!< Default ctor
34 
35  float minSensorDistance, maxSensorDistance; //!< Information about the sensor
36 
37  /** Each one of the measurements */
39  {
40  mrpt::poses::CPose3D pose; //!< The observed feature SE(3) pose with respect to the sensor
41  int32_t id; //!< The feature ID, or INVALID_LANDMARK_ID if unidentified (default)
42  mrpt::math::CMatrixDouble66 inf_matrix; //!< The inverse of the observation covariance matrix (default:all zeros)
43 
44  TMeasurement(); //!< Ctor with default values
45 
46  MRPT_MAKE_ALIGNED_OPERATOR_NEW // Required because we contain Eigen matrices
47  };
49 
50  mrpt::poses::CPose3D sensorPose; //!< The pose of the sensor on the robot/vehicle
51 
52  void getSensorPose( mrpt::poses::CPose3D &out_sensorPose ) const MRPT_OVERRIDE;// See base class docs.
53  void setSensorPose( const mrpt::poses::CPose3D &newSensorPose ) MRPT_OVERRIDE;// See base class docs.
54  void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE;// See base class docs
55 
56  }; // End of class def.
58 
59  } // End of namespace
60 } // End of namespace
61 
62 #endif
#define MRPT_MAKE_ALIGNED_OPERATOR_NEW
Definition: memory.h:112
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
mrpt::poses::CPose3D sensorPose
The pose of the sensor on the robot/vehicle.
std::deque< TYPE1, Eigen::aligned_allocator< TYPE1 > > deque_t
A numeric matrix of compile-time fixed size.
#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...
mrpt::poses::CPose3D pose
The observed feature SE(3) pose with respect to the sensor.
__int32 int32_t
Definition: rptypes.h:48
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:72
Declares a class that represents any robot's observation.
An observation of one or more "features" or "objects", possibly identified with a unique ID...
mrpt::math::CMatrixDouble66 inf_matrix
The inverse of the observation covariance matrix (default:all zeros)
int32_t id
The feature ID, or INVALID_LANDMARK_ID if unidentified (default)
mrpt::aligned_containers< TMeasurement >::deque_t sensedFeatures
The list of observed features.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)



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