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obs/CObservationReflectivity.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 CObservationReflectivity_H
10 #define CObservationReflectivity_H
11 
12 #include <mrpt/obs/CObservation.h>
13 #include <mrpt/poses/CPose3D.h>
14 
15 namespace mrpt
16 {
17 namespace obs
18 {
19  DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationReflectivity , CObservation,OBS_IMPEXP )
20 
21  /** Declares a class derived from "CObservation" that encapsules a single short-range reflectivity measurement.
22  * This can be used for example to store readings from IR sensors (Lego Mindstorm NXT, etc...).
23  *
24  * \sa mrpt::obs::CReflectivityGridMap2D, CObservation
25  * \ingroup mrpt_obs_grp
26  */
28  {
29  // This must be added to any CSerializable derived class:
31 
32  public:
33  CObservationReflectivity( ); //!< Default constructor.
34  virtual ~CObservationReflectivity();
35 
36  /** The read reflectivity level, in the range [0,1] (0=black, 1=white).
37  */
38  float reflectivityLevel;
39 
40  /** The pose of this sensor in robot's local coordinates.
41  */
42  mrpt::poses::CPose3D sensorPose;
43 
44  /** 1-sigma of the sensor Gaussian noise (in the same normalized units than \a reflectivityLevel)
45  */
46  float sensorStdNoise;
47 
48  // See base class docs
49  void getSensorPose( mrpt::poses::CPose3D &out_sensorPose ) const MRPT_OVERRIDE { out_sensorPose = sensorPose; }
50  void setSensorPose( const mrpt::poses::CPose3D &newSensorPose ) MRPT_OVERRIDE { sensorPose = newSensorPose; }
51  void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE;
52 
53  }; // End of class def.
54  DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CObservationReflectivity , CObservation,OBS_IMPEXP )
55 
56  } // End of namespace
57 } // End of namespace
58 
59 #endif
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Declares a class derived from "CObservation" that encapsules a single short-range reflectivity measur...
#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...
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.
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
A general method to change the sensor pose on the robot.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)



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