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CObservation.cpp
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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 
10 #include "obs-precomp.h" // Precompiled headers
11 
12 #include <mrpt/obs/CObservation.h>
13 #include <mrpt/utils/CStream.h>
14 #include <mrpt/system/os.h>
16 
17 #include <mrpt/poses/CPose3D.h>
18 #include <iomanip>
19 
20 using namespace mrpt::obs;
21 using namespace mrpt::utils;
22 using namespace mrpt::poses;
23 using namespace mrpt::math;
24 
26 
27 
28 /*---------------------------------------------------------------
29  CONSTRUCTOR
30  ---------------------------------------------------------------*/
32  timestamp( mrpt::system::now() ),
33  sensorLabel()
34 {
35 }
36 
37 
38 void CObservation::getSensorPose( mrpt::math::TPose3D &out_sensorPose ) const
39 {
40  CPose3D p;
41  getSensorPose(p);
42  out_sensorPose = TPose3D(p);
43 }
44 
46 {
47  setSensorPose(CPose3D(newSensorPose));
48 }
49 
51 {
52  std::swap(timestamp, o.timestamp);
53  std::swap(sensorLabel, o.sensorLabel);
54 }
55 
56 void CObservation::getDescriptionAsText(std::ostream &o) const
57 {
58  o << "Timestamp (UTC): " << mrpt::system::dateTimeToString(timestamp) << std::endl;
59  o << " (as time_t): " << std::fixed << std::setprecision(5) << mrpt::system::timestampTotime_t(timestamp) << std::endl;
60  o << " (as TTimestamp): " << timestamp << std::endl;
61  o << "Sensor label: '" << sensorLabel << "'" << std::endl;
62  o << std::endl;
63 }
Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.
Definition: zip.h:16
The virtual base class which provides a unified interface for all persistent objects in MRPT...
Definition: CSerializable.h:39
mrpt::system::TTimeStamp now()
A shortcut for system::getCurrentTime.
Definition: datetime.h:70
void swap(CObservation &o)
Swap with another observation, ONLY the data defined here in the base class CObservation. It&#39;s protected since it&#39;ll be only called from child classes that should know what else to swap appart from these common data.
virtual void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const =0
A general method to retrieve the sensor pose on the robot.
This base provides a set of functions for maths stuff.
Definition: CArrayNumeric.h:19
#define IMPLEMENTS_VIRTUAL_SERIALIZABLE(class_name, base_class_name, NameSpace)
This must be inserted as implementation of some required members for virtual CSerializable classes: ...
virtual void setSensorPose(const mrpt::poses::CPose3D &newSensorPose)=0
A general method to change the sensor pose on the robot.
This namespace contains representation of robot actions and observations.
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
Definition: CPoint.h:17
std::string sensorLabel
An arbitrary label that can be used to identify the sensor.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
mrpt::system::TTimeStamp timestamp
The associated UTC time-stamp. Where available, this should contain the accurate satellite-based time...
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&#39;s observation.
std::string BASE_IMPEXP dateTimeToString(const mrpt::system::TTimeStamp t)
Convert a timestamp into this textual form (UTC time): YEAR/MONTH/DAY,HH:MM:SS.MMM.
Definition: datetime.cpp:247
Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).
GLfloat GLfloat p
Definition: glext.h:5587
double BASE_IMPEXP timestampTotime_t(const mrpt::system::TTimeStamp t)
Transform from TTimeStamp to standard "time_t" (actually a double number, it can contain fractions of...
Definition: datetime.cpp:53
virtual void getDescriptionAsText(std::ostream &o) const
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...



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