mrpt::obs::CObservationBearingRange Class Reference

Detailed Description

This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs.

This class can manage sensors that detect landmarks in a 2D plane (e.g. a laser scanner) or in the 3D space (e.g. a camera). There are two direction angles: yaw (azimuth) and pitch (negative elevation). For 2D sensors, the pitch must be always set to 0. See CObservationBearingRange::validCovariances for the instructions to fill the uncertainty covariances.

See also

CObservation

Definition at line 29 of file obs/CObservationBearingRange.h.

#include <mrpt/obs/CObservationBearingRange.h>

Inheritance diagram for mrpt::obs::CObservationBearingRange:

Classes
struct	TMeasurement
	Each one of the measurements: More...

Public Types
typedef std::vector< TMeasurement >	TMeasurementList

Public Member Functions
void *	operator new (size_t size)
void *	operator new[] (size_t size)
void	operator delete (void *ptr) throw ()
void	operator delete[] (void *ptr) throw ()
void	operator delete (void *memory, void *ptr) throw ()
void *	operator new (size_t size, const std::nothrow_t &) throw ()
void	operator delete (void *ptr, const std::nothrow_t &) throw ()
	CObservationBearingRange ()
	Default constructor. More...
void	debugPrintOut ()
	Prints out the contents of the object. More...
void	getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
	A general method to retrieve the sensor pose on the robot. More...
void	setSensorPose (const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
	A general method to change the sensor pose on the robot. More...
void	getDescriptionAsText (std::ostream &o) const MRPT_OVERRIDE
	Build a detailed, multi-line textual description of the observation contents and dump it to the output stream. More...
template<class METRICMAP >
bool	insertObservationInto (METRICMAP *theMap, const mrpt::poses::CPose3D *robotPose=NULL) const
	This method is equivalent to: More...
void	getSensorPose (mrpt::math::TPose3D &out_sensorPose) const
	A general method to retrieve the sensor pose on the robot. More...
void	setSensorPose (const mrpt::math::TPose3D &newSensorPose)
	A general method to change the sensor pose on the robot. More...
virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More...
CObject *	clone () const
	Cloning interface for smart pointers. More...
Delayed-load manual control methods.
virtual void	load () const
	Makes sure all images and other fields which may be externally stored are loaded in memory. More...
virtual void	unload ()
	Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect). More...
RTTI classes and functions
mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

Public Attributes
float	minSensorDistance
float	maxSensorDistance
float	fieldOfView_yaw
	Information about the sensor: Ranges, in meters (0: there is no limits) More...
float	fieldOfView_pitch
	Information about the sensor: The "field-of-view" of the sensor, in radians (for pitch ). More...
mrpt::poses::CPose3D	sensorLocationOnRobot
	The position of the sensor on the robot. More...
TMeasurementList	sensedData
	The list of observed ranges: More...
bool	validCovariances
	True: The individual 3x3 covariance matrices must be taken into account, false (default): All the measurements have identical, diagonal 3x3 covariance matrices given by the values sensor_std_range,sensor_std_yaw,sensor_std_pitch. More...
float	sensor_std_range
	Taken into account only if validCovariances=false: the standard deviation of the sensor noise model for range,yaw and pitch (in meters and radians). More...
float	sensor_std_yaw
float	sensor_std_pitch

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCObservation
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
void	swap (CObservation &o)
	Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data. More...
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream. More...
void	readFromStream (mrpt::utils::CStream &in, int version)
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

Data common to any observation
mrpt::system::TTimeStamp	timestamp
	The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading. More...
std::string	sensorLabel
	An arbitrary label that can be used to identify the sensor. More...
mrpt::system::TTimeStamp	getTimeStamp () const
	Returns CObservation::timestamp for all kind of observations. More...
virtual mrpt::system::TTimeStamp	getOriginalReceivedTimeStamp () const
	By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp. More...

RTTI stuff
typedef CObservationBearingRangePtr	Ptr
typedef CObservationBearingRangePtr	ConstPtr
static mrpt::utils::CLASSINIT	_init_CObservationBearingRange
static mrpt::utils::TRuntimeClassId	classCObservationBearingRange
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime. More...
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...
static mrpt::utils::CObject *	CreateObject ()
static CObservationBearingRangePtr	Create ()

Member Typedef Documentation

ConstPtr

typedef CObservationBearingRangePtr mrpt::obs::CObservationBearingRange::ConstPtr

Definition at line 32 of file obs/CObservationBearingRange.h.

Ptr

typedef CObservationBearingRangePtr mrpt::obs::CObservationBearingRange::Ptr

A typedef for the associated smart pointer

Definition at line 32 of file obs/CObservationBearingRange.h.

TMeasurementList

typedef std::vector<TMeasurement> mrpt::obs::CObservationBearingRange::TMeasurementList

Definition at line 67 of file obs/CObservationBearingRange.h.

Constructor & Destructor Documentation

CObservationBearingRange()

CObservationBearingRange::CObservationBearingRange

(

)

Default constructor.

Definition at line 30 of file CObservationBearingRange.cpp.

Member Function Documentation

_GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservationBearingRange::_GetBaseClass ( )

staticprotected

clone()

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

Create()

static CObservationBearingRangePtr mrpt::obs::CObservationBearingRange::Create ( )

static

CreateObject()

static mrpt::utils::CObject* mrpt::obs::CObservationBearingRange::CreateObject ( )

static

debugPrintOut()

void CObservationBearingRange::debugPrintOut

(

)

Prints out the contents of the object.

Definition at line 181 of file CObservationBearingRange.cpp.

References mrpt::obs::gnss::pitch, and RAD2DEG.

duplicate()

virtual mrpt::utils::CObject* mrpt::obs::CObservationBearingRange::duplicate ( ) const

virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

duplicateGetSmartPtr()

mrpt::utils::CObjectPtr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

getDescriptionAsText()

void CObservationBearingRange::getDescriptionAsText ( std::ostream &  o ) const

virtual

Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.

Note

If overried by derived classes, call base CObservation::getDescriptionAsText() first to show common information.

This is the text that appears in RawLogViewer when selecting an object in the dataset

Reimplemented from mrpt::obs::CObservation.

Definition at line 197 of file CObservationBearingRange.cpp.

References mrpt::format(), mrpt::obs::CObservation::getDescriptionAsText(), INVALID_LANDMARK_ID, mrpt::obs::gnss::pitch, RAD2DEG, and mrpt::math::wrapToPi().

getOriginalReceivedTimeStamp()

virtual mrpt::system::TTimeStamp mrpt::obs::CObservation::getOriginalReceivedTimeStamp ( ) const

inlinevirtualinherited

By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp.

See also

getTimeStamp()

Reimplemented in mrpt::obs::CObservationGPS, and mrpt::obs::CObservationVelodyneScan.

Definition at line 58 of file obs/CObservation.h.

GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservationBearingRange::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::obs::CObservation.

getSensorPose() [1/2]

void mrpt::obs::CObservationBearingRange::getSensorPose ( mrpt::poses::CPose3D &  out_sensorPose ) const

inlinevirtual

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See also

setSensorPose

Implements mrpt::obs::CObservation.

Definition at line 86 of file obs/CObservationBearingRange.h.

getSensorPose() [2/2]

void CObservation::getSensorPose ( mrpt::math::TPose3D &  out_sensorPose ) const

inherited

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See also

setSensorPose

Definition at line 38 of file CObservation.cpp.

getTimeStamp()

mrpt::system::TTimeStamp mrpt::obs::CObservation::getTimeStamp ( ) const

inlineinherited

Returns CObservation::timestamp for all kind of observations.

See also

getOriginalReceivedTimeStamp()

Definition at line 56 of file obs/CObservation.h.

insertObservationInto()

template<class METRICMAP >

bool mrpt::obs::CObservation::insertObservationInto ( METRICMAP *  theMap, const mrpt::poses::CPose3D *  robotPose = NULL  ) const

inlineinherited

This method is equivalent to:

map->insertObservation(this, robotPose)

Parameters

theMap	The map where this observation is to be inserted: the map will be updated.
robotPose	The pose of the robot base for this observation, relative to the target metric map. Set to NULL (default) to use (0,0,0deg)

Returns

Returns true if the map has been updated, or false if this observations has nothing to do with a metric map (for example, a sound observation).

See: Maps and observations compatibility matrix

See also

CMetricMap, CMetricMap::insertObservation

Definition at line 77 of file obs/CObservation.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference().

load()

virtual void mrpt::obs::CObservation::load ( ) const

inlinevirtualinherited

Makes sure all images and other fields which may be externally stored are loaded in memory.

Note that for all CImages, calling load() is not required since the images will be automatically loaded upon first access, so load() shouldn't be needed to be called in normal cases by the user. If all the data were alredy loaded or this object has no externally stored data fields, calling this method has no effects.

See also

unload

Reimplemented in mrpt::obs::CObservation3DRangeScan.

Definition at line 119 of file obs/CObservation.h.

operator delete() [1/3]

void mrpt::obs::CObservationBearingRange::operator delete ( void *  memory, void *  ptr  ) throw ( )

inline

Definition at line 32 of file obs/CObservationBearingRange.h.

operator delete() [2/3]

void mrpt::obs::CObservationBearingRange::operator delete ( void *  ptr ) throw ( )

inline

Definition at line 32 of file obs/CObservationBearingRange.h.

operator delete() [3/3]

void mrpt::obs::CObservationBearingRange::operator delete ( void *  ptr, const std::nothrow_t &    ) throw ( )

inline

Definition at line 32 of file obs/CObservationBearingRange.h.

operator delete[]()

void mrpt::obs::CObservationBearingRange::operator delete[] ( void *  ptr ) throw ( )

inline

Definition at line 32 of file obs/CObservationBearingRange.h.

operator new() [1/3]

void* mrpt::obs::CObservationBearingRange::operator new ( size_t  size )

inline

Definition at line 32 of file obs/CObservationBearingRange.h.

operator new() [2/3]

void* mrpt::obs::CObservationBearingRange::operator new ( size_t  size, const std::nothrow_t &    ) throw ( )

inline

Definition at line 32 of file obs/CObservationBearingRange.h.

operator new() [3/3]

static void* mrpt::obs::CObservationBearingRange::operator new ( size_t  size, void *  ptr  )

inlinestatic

Definition at line 32 of file obs/CObservationBearingRange.h.

operator new[]()

void* mrpt::obs::CObservationBearingRange::operator new[] ( size_t  size )

inline

Definition at line 32 of file obs/CObservationBearingRange.h.

readFromStream()

void CObservationBearingRange::readFromStream ( mrpt::utils::CStream &  in, int  version  )

protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception

On any error, see CStream::ReadBuffer

See also

CStream

Implements mrpt::utils::CSerializable.

Definition at line 98 of file CObservationBearingRange.cpp.

References INVALID_LANDMARK_ID, INVALID_TIMESTAMP, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, THROW_EXCEPTION_FMT, and version.

setSensorPose() [1/2]

void mrpt::obs::CObservationBearingRange::setSensorPose ( const mrpt::poses::CPose3D &  newSensorPose )

inlinevirtual

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See also

getSensorPose

Implements mrpt::obs::CObservation.

Definition at line 87 of file obs/CObservationBearingRange.h.

Referenced by mrpt::vision::StereoObs2BRObs().

setSensorPose() [2/2]

void CObservation::setSensorPose ( const mrpt::math::TPose3D &  newSensorPose )

inherited

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See also

getSensorPose

Definition at line 45 of file CObservation.cpp.

swap()

void CObservation::swap ( CObservation &  o )

protectedinherited

Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data.

Definition at line 50 of file CObservation.cpp.

References mrpt::obs::CObservation::sensorLabel, and mrpt::obs::CObservation::timestamp.

Referenced by mrpt::obs::CObservationStereoImages::swap(), and mrpt::obs::CObservation3DRangeScan::swap().

unload()

virtual void mrpt::obs::CObservation::unload ( )

inlinevirtualinherited

Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).

See also

load

Reimplemented in mrpt::obs::CObservation3DRangeScan.

Definition at line 123 of file obs/CObservation.h.

writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns

A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

writeToStream()

void CObservationBearingRange::writeToStream ( mrpt::utils::CStream &  out, int *  getVersion  ) const

protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception

On any error, see CStream::WriteBuffer

See also

CStream

Implements mrpt::utils::CSerializable.

Definition at line 47 of file CObservationBearingRange.cpp.

References INVALID_LANDMARK_ID, THROW_EXCEPTION_FMT, and version.

Member Data Documentation

_init_CObservationBearingRange

mrpt::utils::CLASSINIT mrpt::obs::CObservationBearingRange::_init_CObservationBearingRange

staticprotected

Definition at line 32 of file obs/CObservationBearingRange.h.

classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 118 of file CObject.h.

classCObservation

const mrpt::utils::TRuntimeClassId mrpt::obs::CObservation::classCObservation

staticinherited

Definition at line 43 of file obs/CObservation.h.

classCObservationBearingRange

mrpt::utils::TRuntimeClassId mrpt::obs::CObservationBearingRange::classCObservationBearingRange

static

Definition at line 32 of file obs/CObservationBearingRange.h.

classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 42 of file CSerializable.h.

classinfo

const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservationBearingRange::classinfo

static

Definition at line 32 of file obs/CObservationBearingRange.h.

fieldOfView_pitch

float mrpt::obs::CObservationBearingRange::fieldOfView_pitch

Information about the sensor: The "field-of-view" of the sensor, in radians (for pitch ).

Definition at line 41 of file obs/CObservationBearingRange.h.

Referenced by mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), and mrpt::vision::StereoObs2BRObs().

fieldOfView_yaw

float mrpt::obs::CObservationBearingRange::fieldOfView_yaw

Information about the sensor: Ranges, in meters (0: there is no limits)

Information about the sensor: The "field-of-view" of the sensor, in radians (for yaw ).

Definition at line 40 of file obs/CObservationBearingRange.h.

Referenced by mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), and mrpt::vision::StereoObs2BRObs().

maxSensorDistance

float mrpt::obs::CObservationBearingRange::maxSensorDistance

Definition at line 39 of file obs/CObservationBearingRange.h.

Referenced by mrpt::maps::CLandmarksMap::simulateRangeBearingReadings().

minSensorDistance

float mrpt::obs::CObservationBearingRange::minSensorDistance

Definition at line 39 of file obs/CObservationBearingRange.h.

Referenced by mrpt::maps::CLandmarksMap::simulateRangeBearingReadings().

sensedData

TMeasurementList mrpt::obs::CObservationBearingRange::sensedData

The list of observed ranges:

Definition at line 70 of file obs/CObservationBearingRange.h.

Referenced by mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), and mrpt::vision::StereoObs2BRObs().

sensor_std_pitch

float mrpt::obs::CObservationBearingRange::sensor_std_pitch

Definition at line 79 of file obs/CObservationBearingRange.h.

Referenced by mrpt::maps::CLandmarksMap::simulateRangeBearingReadings().

sensor_std_range

float mrpt::obs::CObservationBearingRange::sensor_std_range

Taken into account only if validCovariances=false: the standard deviation of the sensor noise model for range,yaw and pitch (in meters and radians).

If validCovariances=true, these 3 values are ignored and the individual 3x3 covariance matrices contain the actual uncertainties for each of the detected landmarks.

Definition at line 79 of file obs/CObservationBearingRange.h.

Referenced by mrpt::maps::CLandmarksMap::simulateRangeBearingReadings().

sensor_std_yaw

float mrpt::obs::CObservationBearingRange::sensor_std_yaw

Definition at line 79 of file obs/CObservationBearingRange.h.

Referenced by mrpt::maps::CLandmarksMap::simulateRangeBearingReadings().

sensorLabel

std::string mrpt::obs::CObservation::sensorLabel

inherited

An arbitrary label that can be used to identify the sensor.

Definition at line 53 of file obs/CObservation.h.

Referenced by mrpt::obs::carmen_log_parse_line(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::hwdrivers::CRaePID::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CRaePID::getFullInfo(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::COpenNI2Sensor::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CWirelessPower::getObservation(), mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::getObservation(), mrpt::hwdrivers::CImpinjRFID::getObservation(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation(), mrpt::obs::CObservation6DFeatures::readFromStream(), mrpt::obs::CObservationStereoImages::readFromStream(), mrpt::obs::CObservation2DRangeScan::readFromStream(), mrpt::obs::CObservationVelodyneScan::readFromStream(), mrpt::obs::CObservation3DRangeScan::readFromStream(), mrpt::obs::CObservation::swap(), mrpt::obs::CObservationGPS::swap(), mrpt::obs::CObservation6DFeatures::writeToStream(), mrpt::obs::CObservationStereoImages::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::obs::CObservationVelodyneScan::writeToStream(), and mrpt::obs::CObservation3DRangeScan::writeToStream().

sensorLocationOnRobot

mrpt::poses::CPose3D mrpt::obs::CObservationBearingRange::sensorLocationOnRobot

The position of the sensor on the robot.

Definition at line 45 of file obs/CObservationBearingRange.h.

Referenced by mrpt::maps::CLandmarksMap::simulateRangeBearingReadings().

timestamp

mrpt::system::TTimeStamp mrpt::obs::CObservation::timestamp

inherited

The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading.

See also

getOriginalReceivedTimeStamp(), getTimeStamp()

Definition at line 52 of file obs/CObservation.h.

Referenced by mrpt::obs::carmen_log_parse_line(), mrpt::obs::CObservationVelodyneScan::TPointCloud::clear_deep(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::detectors::CObjectDetection::detectObjects(), mrpt::hwdrivers::CRaePID::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::obs::CObservationGasSensors::CMOSmodel::get_GasDistribution_estimation(), mrpt::hwdrivers::CRaePID::getFullInfo(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::COpenNI2_RGBD360::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CWirelessPower::getObservation(), mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::getObservation(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CImageGrabber_OpenCV::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CImageGrabber_dc1394::getObservation(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::hwdrivers::CDUO3DCamera::getObservations(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::obs::CObservationGasSensors::CMOSmodel::inverse_MOSmodeling(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::obs::CObservationGasSensors::CMOSmodel::noise_filtering(), mrpt::hwdrivers::CGPSInterface::parse_NMEA(), mrpt::obs::CObservation6DFeatures::readFromStream(), mrpt::obs::CObservationStereoImages::readFromStream(), mrpt::obs::CObservation2DRangeScan::readFromStream(), mrpt::obs::CObservationVelodyneScan::readFromStream(), mrpt::obs::CObservation3DRangeScan::readFromStream(), mrpt::obs::CObservationGasSensors::CMOSmodel::save_log_map(), mrpt::maps::CLandmarksMap::simulateBeaconReadings(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), mrpt::obs::CObservation::swap(), mrpt::obs::CObservationGPS::swap(), velodyne_scan_to_pointcloud(), mrpt::obs::CObservation6DFeatures::writeToStream(), mrpt::obs::CObservationStereoImages::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::obs::CObservationVelodyneScan::writeToStream(), and mrpt::obs::CObservation3DRangeScan::writeToStream().

validCovariances

bool mrpt::obs::CObservationBearingRange::validCovariances

True: The individual 3x3 covariance matrices must be taken into account, false (default): All the measurements have identical, diagonal 3x3 covariance matrices given by the values sensor_std_range,sensor_std_yaw,sensor_std_pitch.

Definition at line 74 of file obs/CObservationBearingRange.h.

Referenced by mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), and mrpt::vision::StereoObs2BRObs().