class mrpt::obs::CObservationReflectivity

Declares a class derived from “CObservation” that encapsules a single short-range reflectivity measurement.

This can be used for example to store readings from IR sensors (Lego Mindstorm NXT, etc…).

See also:

mrpt::obs::CReflectivityGridMap2D, CObservation

#include <mrpt/obs/CObservationReflectivity.h>

class CObservationReflectivity: public mrpt::obs::CObservation
{
public:
    //
fields

    float reflectivityLevel {0.5f};
    int16_t channel {-1};
    mrpt::poses::CPose3D sensorPose;
    float sensorStdNoise {0.2f};

    //
methods

    virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const;
    virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose);
    virtual void getDescriptionAsText(std::ostream& o) const;
};

Inherited Members

public:
    //
fields

    mrpt::system::TTimeStamp timestamp {mrpt::system::now()};
    std::string sensorLabel;

    //
methods

    mrpt::system::TTimeStamp getTimeStamp() const;
    virtual mrpt::system::TTimeStamp getOriginalReceivedTimeStamp() const;
    virtual void load() const;
    virtual void unload();

    template <class METRICMAP>
    bool insertObservationInto(
        METRICMAP* theMap,
        const mrpt::poses::CPose3D* robotPose = nullptr
        ) const;

    virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const = 0;
    void getSensorPose(mrpt::math::TPose3D& out_sensorPose) const;
    virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) = 0;
    void setSensorPose(const mrpt::math::TPose3D& newSensorPose);
    virtual void getDescriptionAsText(std::ostream& o) const;
    std::string getDescriptionAsTextValue() const;

Fields

float reflectivityLevel {0.5f}

The read reflectivity level, in the range [0,1] (0=black, 1=white).

int16_t channel {-1}

The channel for this observation.

If channel=-1, it can be inserted into any CReflectivityGridMap2D. Otherwise, it can only be inserted into reflectivity maps with the same channel. (Default=-1)

mrpt::poses::CPose3D sensorPose

The pose of this sensor in robot’s local coordinates.

float sensorStdNoise {0.2f}

1-sigma of the sensor Gaussian noise (in the same normalized units than reflectivityLevel)

Methods

virtual void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const

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

virtual void setSensorPose(const mrpt::poses::CPose3D& newSensorPose)

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

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

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

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