CObservationRobotPose.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/obs/CObservation.h>
#include <mrpt/poses/CPose3DPDFGaussian.h>
#include <mrpt/serialization/CSerializable.h>

namespace mrpt::obs
{
/** An observation providing an alternative robot pose from an external source.
 * \sa CObservation
 * \ingroup mrpt_obs_grp
 */
class CObservationRobotPose : public CObservation
{
    DEFINE_SERIALIZABLE(CObservationRobotPose, mrpt::obs)
   public:
    /** The observed robot pose */
    mrpt::poses::CPose3DPDFGaussian pose;

    /** The pose of the sensor on the robot/vehicle */
    mrpt::poses::CPose3D sensorPose;

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

};  // End of class def.

}  // namespace mrpt::obs