CObservationRobotPose.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 CObservationRobotPose_H
#define CObservationRobotPose_H

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

namespace mrpt
{
namespace 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)
   public:
        /** Default ctor */
        CObservationRobotPose();

        /** 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.

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

#endif