CObservationRange.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 CObservationRange_H
#define CObservationRange_H
 
#include <mrpt/serialization/CSerializable.h>
#include <mrpt/obs/CObservation.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose2D.h>
 
namespace mrpt::obs
{
/** Declares a class derived from "CObservation" that
       encapsules a single range measurement, and associated parameters. This
 can be used
 *     for example to store measurements from infrared proximity sensors (IR) or
 ultrasonic sensors (sonars).
 *
 * \sa CObservation
 * \ingroup mrpt_obs_grp
 */
class CObservationRange : public CObservation
{
    DEFINE_SERIALIZABLE(CObservationRange)
 
   public:
    /** Default constructor.
     */
    CObservationRange();
 
    /** The data members
     */
    float minSensorDistance;
    float maxSensorDistance;
    /** Cone aperture of each ultrasonic beam, in radians. */
    float sensorConeApperture;
 
    struct TMeasurement
    {
        TMeasurement() : sensorID(0), sensorPose(), sensedDistance(0) {}
        /** Some kind of sensor ID which identifies it on the bus (if
         * applicable, 0 otherwise)
          */
        uint16_t sensorID;
 
        /** The 6D position of the sensor on the robot.
          */
        math::TPose3D sensorPose;
 
        /** The measured range, in meters (or a value of 0 if there was no
         * detected echo).
          */
        float sensedDistance;
    };
 
    using TMeasurementList = std::deque<TMeasurement>;
    using const_iterator = std::deque<TMeasurement>::const_iterator;
    using iterator = std::deque<TMeasurement>::iterator;
 
    /** All the measurements */
    TMeasurementList sensedData;
 
    iterator begin() { return sensedData.begin(); }
    iterator end() { return sensedData.end(); }
    const_iterator begin() const { return sensedData.begin(); }
    const_iterator end() const { return sensedData.end(); }
    // See base class docs
    void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const override;
    void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) override;
    void getDescriptionAsText(std::ostream& o) const override;
 
};  // End of class def.
}
#endif