obs/CObservationBeaconRanges.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef CObservationBeaconRanges_H
#define CObservationBeaconRanges_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/obs/CObservation.h>
#include <mrpt/poses/CPoint3D.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/poses/CPose3D.h>

namespace mrpt
{
namespace obs
{
        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationBeaconRanges, CObservation, OBS_IMPEXP  )

        /** Declares a class derived from "CObservation" that represents one (or more) range measurements to labeled beacons.
         * \sa CObservation
         * \ingroup mrpt_obs_grp
         */
        class OBS_IMPEXP CObservationBeaconRanges : public CObservation
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CObservationBeaconRanges )

         public:
                CObservationBeaconRanges( ); //!< ctor

                float  minSensorDistance, maxSensorDistance;  //!< Info about sensor
                float  stdError; //!< The "sigma" of the sensor, assuming a zero-mean Gaussian noise model.

                /** Each one of the measurements */
                struct OBS_IMPEXP TMeasurement
                {
                        TMeasurement() : sensorLocationOnRobot(), sensedDistance(0),beaconID(INVALID_BEACON_ID)
                        {}

                        mrpt::poses::CPoint3D sensorLocationOnRobot; //!< Position of the sensor on the robot
                        float                 sensedDistance; //!< The sensed range itself (in meters).
                        int32_t               beaconID; //!< The ID of the sensed beacon (or INVALID_BEACON_ID if unknown)
                };

                std::deque<TMeasurement> sensedData; //!< The list of observed ranges

                mrpt::poses::CPose2D auxEstimatePose; //!< The (X,Y,PHI) pose estimated by the UWB software, for comparison purposes (Added in streamming version 1)


                void  debugPrintOut(); //!< Prints out the contents of the object  */

                void getSensorPose( mrpt::poses::CPose3D &out_sensorPose ) const MRPT_OVERRIDE;// See base class docs.
                void setSensorPose( const mrpt::poses::CPose3D &newSensorPose ) MRPT_OVERRIDE;// See base class docs.
                void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE;// See base class docs

                /** Easy look-up into the vector sensedData, returns the range for a given beacon, or 0 if the beacon is not observed */
                float getSensedRangeByBeaconID(int32_t beaconID);

        }; // End of class def.
        DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CObservationBeaconRanges, CObservation, OBS_IMPEXP  )

        } // End of namespace
} // End of namespace

#endif