Detailed Description

Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximately at the same time as one "snapshot" of the environment.

It can contain "observations" of many different kinds.

New observations can be added using:

 CObservationXXX::Ptr   o = mrpt::make_aligned_shared<CObservationXXX>();
// Create
a smart pointer containing an object of class "CObservationXXX"
 o->(...)
 CSensoryFrame   sf;
 sf.insert(o);

The following methods are equivalent for adding new observations to a "sensory frame":

To examine the objects within a sensory frame, the following methods exist:

CSensoryFrame::getObservationByClass : Looks for some specific observation class.
CSensoryFrame::begin : To iterate over all observations.
CSensoryFrame::getObservationByIndex : To query by index.

Notice that contained observations objects are automatically deleted on this object's destruction or clear.

See also: CObservation

Definition at line 52 of file CSensoryFrame.h.

#include <mrpt/obs/CSensoryFrame.h>

Inheritance diagram for mrpt::obs::CSensoryFrame:

Public Types
using	iterator = std::deque< CObservation::Ptr >::iterator
	You can use CSensoryFrame::begin to get a iterator to the first element. More...

using	const_iterator = std::deque< CObservation::Ptr >::const_iterator
	You can use CSensoryFrame::begin to get a iterator to the first element. More...

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) noexcept

void	operator delete[] (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

void *	operator new (size_t size, const std::nothrow_t &) noexcept

void	operator delete (void *ptr, const std::nothrow_t &) noexcept

	CSensoryFrame ()=default
	Default constructor. More...

	CSensoryFrame (const CSensoryFrame &)
	Copy constructor. More...

CSensoryFrame &	operator= (const CSensoryFrame &o)
	Copy. More...

void	clear ()
	Clear all current observations. More...

bool	insertObservationsInto (mrpt::maps::CMetricMap theMap, const mrpt::poses::CPose3D robotPose=nullptr) const
	Insert all the observations in this SF into a metric map or any kind (see mrpt::maps::CMetricMap). More...

bool	insertObservationsInto (mrpt::maps::CMetricMap::Ptr &theMap, const mrpt::poses::CPose3D *robotPose=nullptr) const
	Insert all the observations in this SF into a metric map or any kind (see mrpt::maps::CMetricMap). More...

void	operator+= (const CSensoryFrame &sf)
	You can use "sf1+=sf2;" to add observations in sf2 to sf1. More...

void	operator+= (const CObservation::Ptr &obs)
	You can use "sf+=obs;" to add the observation "obs" to the "sf1". More...

void	moveFrom (CSensoryFrame &sf)
	Copies all the observation from another object, then erase them from the origin object (this method is fast since only pointers are copied); Previous objects in this objects are not deleted. More...

void	push_back (const CObservation::Ptr &obs)
	Inserts a new observation to the list: The pointer to the objects is copied, thus DO NOT delete the passed object, this class will do at destructor or when appropriate. More...

void	insert (const CObservation::Ptr &obs)
	Inserts a new observation to the list: The pointer to the objects is copied, thus DO NOT delete the passed object, this class will do at destructor or when appropriate. More...

template<typename T >
T::Ptr	getObservationByClass (const size_t &ith=0) const
	Returns the i'th observation of a given class (or of a descendant class), or nullptr if there is no such observation in the array. More...

const_iterator	begin () const
	Returns a constant iterator to the first observation: this is an example of usage: More...

const_iterator	end () const
	Returns a constant iterator to the end of the list of observations: this is an example of usage: More...

iterator	begin ()
	Returns a iterator to the first observation: this is an example of usage: More...

iterator	end ()
	Returns a iterator to the end of the list of observations: this is an example of usage: More...

size_t	size () const
	Returns the number of observations in the list. More...

bool	empty () const
	Returns true if there are no observations in the list. More...

void	eraseByIndex (const size_t &idx)
	Removes the i'th observation in the list (0=first). More...

iterator	erase (const iterator &it)
	Removes the given observation in the list, and return an iterator to the next element (or this->end() if it was the last one). More...

void	eraseByLabel (const std::string &label)
	Removes all the observations that match a given sensorLabel. More...

CObservation::Ptr	getObservationByIndex (const size_t &idx) const
	Returns the i'th observation in the list (0=first). More...

template<typename T >
T	getObservationByIndexAs (const size_t &idx) const
	Returns the i'th observation in the list (0=first), and as a different smart pointer type: More...

CObservation::Ptr	getObservationBySensorLabel (const std::string &label, const size_t &idx=0) const
	Returns the i'th observation in the list with the given "sensorLabel" (0=first). More...

template<typename T >
T	getObservationBySensorLabelAs (const std::string &label, const size_t &idx=0) const
	Returns the i'th observation in the list with the given "sensorLabel" (0=first), and as a different smart pointer type: More...

void	swap (CSensoryFrame &sf)
	Efficiently swaps the contents of two objects. More...

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

Protected Member Functions
CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

Protected Attributes
std::deque< CObservation::Ptr >	m_observations
	The set of observations taken at the same time instant. More...

RTTI stuff
using	Ptr = std::shared_ptr< CSensoryFrame >

using	ConstPtr = std::shared_ptr< const CSensoryFrame >

using	UniquePtr = std::unique_ptr< CSensoryFrame >

using	ConstUniquePtr = std::unique_ptr< const CSensoryFrame >

static mrpt::rtti::CLASSINIT	_init_CSensoryFrame

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CSensoryFrame"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static mrpt::rtti::CObject *	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Cached points map
mrpt::maps::CMetricMap::Ptr	m_cachedMap
	A points map, build only under demand by the methods getAuxPointsMap() and buildAuxPointsMap(). More...

template<class POINTSMAP >
const POINTSMAP *	getAuxPointsMap () const
	Returns the cached points map representation of the scan, if already build with buildAuxPointsMap(), or nullptr otherwise. More...

template<class POINTSMAP >
const POINTSMAP *	buildAuxPointsMap (const void *options=nullptr) const
	Returns a cached points map representing this laser scan, building it upon the first call. More...

void	internal_buildAuxPointsMap (const void *options=nullptr) const
	Internal method, used from buildAuxPointsMap() More...

Member Typedef Documentation

◆ const_iterator

using mrpt::obs::CSensoryFrame::const_iterator = std::deque<CObservation::Ptr>::const_iterator

You can use CSensoryFrame::begin to get a iterator to the first element.

Definition at line 231 of file CSensoryFrame.h.

◆ ConstPtr

using mrpt::obs::CSensoryFrame::ConstPtr = std::shared_ptr<const CSensoryFrame >

Definition at line 54 of file CSensoryFrame.h.

◆ ConstUniquePtr

using mrpt::obs::CSensoryFrame::ConstUniquePtr = std::unique_ptr<const CSensoryFrame >

Definition at line 54 of file CSensoryFrame.h.

◆ iterator

using mrpt::obs::CSensoryFrame::iterator = std::deque<CObservation::Ptr>::iterator

You can use CSensoryFrame::begin to get a iterator to the first element.

Definition at line 227 of file CSensoryFrame.h.

◆ Ptr

using mrpt::obs::CSensoryFrame::Ptr = std::shared_ptr< CSensoryFrame >

A type for the associated smart pointer

Definition at line 54 of file CSensoryFrame.h.

◆ UniquePtr

using mrpt::obs::CSensoryFrame::UniquePtr = std::unique_ptr< CSensoryFrame >

Definition at line 54 of file CSensoryFrame.h.

Constructor & Destructor Documentation

◆ CSensoryFrame() [1/2]

mrpt::obs::CSensoryFrame::CSensoryFrame ( )

default

Default constructor.

◆ CSensoryFrame() [2/2]

CSensoryFrame::CSensoryFrame ( const CSensoryFrame & o )

Copy constructor.

Definition at line 26 of file CSensoryFrame.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::obs::CSensoryFrame::_GetBaseClass ( )

staticprotected

◆ begin() [1/2]

const_iterator mrpt::obs::CSensoryFrame::begin ( ) const

inline

Returns a constant iterator to the first observation: this is an example of usage:

CSensoryFrame  sf;
...
for (CSensoryFrame::const_iterator it=sf.begin();it!=sf.end();++it)
   {
   (*it)->... // (*it) is a "CObservation*"
}

Definition at line 245 of file CSensoryFrame.h.

References m_observations.

Referenced by mrpt::maps::CMetricMap::canComputeObservationsLikelihood(), mrpt::maps::CMetricMap::computeObservationsLikelihood(), getObservationByClass(), mrpt::slam::observationsOverlap(), mrpt::slam::CMonteCarloLocalization3D::PF_SLAM_computeObservationLikelihoodForParticle(), mrpt::slam::CMonteCarloLocalization2D::PF_SLAM_computeObservationLikelihoodForParticle(), mrpt::maps::CMultiMetricMapPDF::PF_SLAM_computeObservationLikelihoodForParticle(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), and mrpt::slam::CMetricMapBuilderICP::processActionObservation().

◆ begin() [2/2]

iterator mrpt::obs::CSensoryFrame::begin ( )

inline

Returns a iterator to the first observation: this is an example of usage:

CSensoryFrame  sf;
...
for (CSensoryFrame::iterator it=sf.begin();it!=sf.end();++it)
   {
   (*it)->... // (*it) is a "CObservation*"
}

Definition at line 271 of file CSensoryFrame.h.

References m_observations.

◆ buildAuxPointsMap()

template<class POINTSMAP >

const POINTSMAP* mrpt::obs::CSensoryFrame::buildAuxPointsMap ( const void * options = nullptr ) const

inline

Returns a cached points map representing this laser scan, building it upon the first call.

Parameters

options

Can be nullptr to use default point maps' insertion options, or a pointer to a "CPointsMap::TInsertionOptions" structure to override some params. Usage:

mrpt::maps::CPointsMap *map =

sf->buildAuxPointsMap<mrpt::maps::CPointsMap>(&options or nullptr);

See also: getAuxPointsMap

Definition at line 107 of file CSensoryFrame.h.

References internal_buildAuxPointsMap(), and m_cachedMap.

◆ clear()

void CSensoryFrame::clear ( )

Clear all current observations.

Definition at line 42 of file CSensoryFrame.cpp.

◆ clone()

virtual mrpt::rtti::CObject* mrpt::obs::CSensoryFrame::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::obs::CSensoryFrame::Create ( Args &&... args )

inlinestatic

Definition at line 54 of file CSensoryFrame.h.

◆ CreateObject()

static mrpt::rtti::CObject* mrpt::obs::CSensoryFrame::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::obs::CSensoryFrame::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 54 of file CSensoryFrame.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 168 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

◆ empty()

bool mrpt::obs::CSensoryFrame::empty ( ) const

inline

Returns true if there are no observations in the list.

Definition at line 288 of file CSensoryFrame.h.

References m_observations.

◆ end() [1/2]

const_iterator mrpt::obs::CSensoryFrame::end ( ) const

inline

Returns a constant iterator to the end of the list of observations: this is an example of usage:

CSensoryFrame  sf;
...
for (CSensoryFrame::const_iterator it=sf.begin();it!=sf.end();++it)
   {
   (*it)->... // (*it) is a "CObservation*"
}

Definition at line 258 of file CSensoryFrame.h.

References m_observations.

Referenced by mrpt::maps::CMetricMap::canComputeObservationsLikelihood(), mrpt::maps::CMetricMap::computeObservationsLikelihood(), getObservationByClass(), mrpt::slam::observationsOverlap(), mrpt::slam::CMonteCarloLocalization3D::PF_SLAM_computeObservationLikelihoodForParticle(), mrpt::slam::CMonteCarloLocalization2D::PF_SLAM_computeObservationLikelihoodForParticle(), mrpt::maps::CMultiMetricMapPDF::PF_SLAM_computeObservationLikelihoodForParticle(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), and mrpt::slam::CMetricMapBuilderICP::processActionObservation().

◆ end() [2/2]

iterator mrpt::obs::CSensoryFrame::end ( )

inline

Returns a iterator to the end of the list of observations: this is an example of usage:

CSensoryFrame  sf;
...
for (CSensoryFrame::iterator it=sf.begin();it!=sf.end();++it)
   {
   (*it)->... // (*it) is a "CObservation*"
}

Definition at line 284 of file CSensoryFrame.h.

References m_observations.

◆ erase()

CSensoryFrame::iterator CSensoryFrame::erase ( const iterator & it )

Removes the given observation in the list, and return an iterator to the next element (or this->end() if it was the last one).

Definition at line 182 of file CSensoryFrame.cpp.

References ASSERT_, MRPT_END, and MRPT_START.

◆ eraseByIndex()

void CSensoryFrame::eraseByIndex ( const size_t & idx )

Removes the i'th observation in the list (0=first).

Definition at line 148 of file CSensoryFrame.cpp.

References ASSERT_, begin(), MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.

◆ eraseByLabel()

void CSensoryFrame::eraseByLabel ( const std::string & label )

Removes all the observations that match a given sensorLabel.

Definition at line 234 of file CSensoryFrame.cpp.

References mrpt::system::os::_strcmpi(), and begin().

◆ getAuxPointsMap()

template<class POINTSMAP >

const POINTSMAP* mrpt::obs::CSensoryFrame::getAuxPointsMap ( ) const

inline

Returns the cached points map representation of the scan, if already build with buildAuxPointsMap(), or nullptr otherwise.

Usage:

mrpt::maps::CPointsMap *map =

obs->getAuxPointsMap<mrpt::maps::CPointsMap>();

See also: buildAuxPointsMap

Definition at line 89 of file CSensoryFrame.h.

References m_cachedMap.

◆ getClassName()

static constexpr auto mrpt::obs::CSensoryFrame::getClassName ( )

inlinestatic

Definition at line 54 of file CSensoryFrame.h.

◆ getObservationByClass()

template<typename T >

T::Ptr mrpt::obs::CSensoryFrame::getObservationByClass ( const size_t & ith = 0 ) const

inline

Returns the i'th observation of a given class (or of a descendant class), or nullptr if there is no such observation in the array.

Example:

CObservationImage::Ptr obs =

m_SF->getObservationByClass<CObservationImage>();

By default (ith=0), the first observation is returned.

Definition at line 211 of file CSensoryFrame.h.

References begin(), end(), MRPT_END, and MRPT_START.

Referenced by mrpt::hmtslam::CTopLCDetector_FabMap::OnNewPose().

◆ getObservationByIndex()

CObservation::Ptr CSensoryFrame::getObservationByIndex ( const size_t & idx ) const

Returns the i'th observation in the list (0=first).

See also: begin, size

Definition at line 166 of file CSensoryFrame.cpp.

References begin(), MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.

Referenced by getObservationByIndexAs().

◆ getObservationByIndexAs()

template<typename T >

T mrpt::obs::CSensoryFrame::getObservationByIndexAs ( const size_t & idx ) const

inline

Returns the i'th observation in the list (0=first), and as a different smart pointer type:

sf.getObservationByIndexAs<CObservationStereoImages::Ptr>(i);

See also: begin, size

Definition at line 314 of file CSensoryFrame.h.

References getObservationByIndex().

◆ getObservationBySensorLabel()

CObservation::Ptr CSensoryFrame::getObservationBySensorLabel	(	const std::string &	label,
		const size_t &	idx = `0`
	)		const

Returns the i'th observation in the list with the given "sensorLabel" (0=first).

Returns: The observation, or nullptr if not found.

See also: begin, size

Definition at line 195 of file CSensoryFrame.cpp.

References mrpt::system::os::_strcmpi(), begin(), MRPT_END, and MRPT_START.

Referenced by getObservationBySensorLabelAs().

◆ getObservationBySensorLabelAs()

template<typename T >

T mrpt::obs::CSensoryFrame::getObservationBySensorLabelAs	(	const std::string &	label,
		const size_t &	idx = `0`
	)		const

inline

Returns the i'th observation in the list with the given "sensorLabel" (0=first), and as a different smart pointer type:

sf.getObservationBySensorLabelAs<CObservationStereoImages::Ptr>(i);

See also: begin, size

Definition at line 336 of file CSensoryFrame.h.

References getObservationBySensorLabel().

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::obs::CSensoryFrame::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::obs::CSensoryFrame::GetRuntimeClassIdStatic ( )

static

◆ insert()

void CSensoryFrame::insert ( const CObservation::Ptr & obs )

Inserts a new observation to the list: The pointer to the objects is copied, thus DO NOT delete the passed object, this class will do at destructor or when appropriate.

Definition at line 139 of file CSensoryFrame.cpp.

Referenced by mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitions().

◆ insertObservationsInto() [1/2]

bool CSensoryFrame::insertObservationsInto	(	mrpt::maps::CMetricMap *	theMap,
		const mrpt::poses::CPose3D *	robotPose = `nullptr`
	)		const

Insert all the observations in this SF into a metric map or any kind (see mrpt::maps::CMetricMap).

It calls CObservation::insertObservationInto for all stored observation.

Parameters

theMap	The map where this observation is to be inserted: the map will be updated.
robotPose	The pose of the robot base for this observation, relative to the target metric map. Set to nullptr (default) to use (0,0,0deg)

Returns: Returns true if the map has been updated, or false if this observations has nothing to do with a metric map (for example, a sound observation).

See also: mrpt::maps::CMetricMap, CObservation::insertObservationInto, CMetricMap::insertObservation

Definition at line 276 of file CSensoryFrame.cpp.

References begin().

Referenced by mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), mrpt::maps::CMultiMetricMapPDF::insertObservation(), insertObservationsInto(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_AA(), mrpt::maps::CMultiMetricMapPDF::prediction_and_update_pfOptimalProposal(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfOptimalProposal().

◆ insertObservationsInto() [2/2]

bool mrpt::obs::CSensoryFrame::insertObservationsInto	(	mrpt::maps::CMetricMap::Ptr &	theMap,
		const mrpt::poses::CPose3D *	robotPose = `nullptr`
	)		const

inline

Insert all the observations in this SF into a metric map or any kind (see mrpt::maps::CMetricMap).

It calls CObservation::insertObservationInto for all stored observation.

Parameters

theMap	The map where this observation is to be inserted: the map will be updated.
robotPose	The pose of the robot base for this observation, relative to the target metric map. Set to nullptr (default) to use (0,0,0deg)

Returns: Returns true if the map has been updated, or false if this observations has nothing to do with a metric map (for example, a sound observation).

See also: mrpt::maps::CMetricMap, CObservation::insertObservationInto, CMetricMap::insertObservation

Definition at line 162 of file CSensoryFrame.h.

References insertObservationsInto().

◆ internal_buildAuxPointsMap()

void CSensoryFrame::internal_buildAuxPointsMap ( const void * options = nullptr ) const

protected

Internal method, used from buildAuxPointsMap()

Definition at line 262 of file CSensoryFrame.cpp.

References begin(), IS_CLASS, and mrpt::obs::ptr_internal_build_points_map_from_scan2D.

Referenced by buildAuxPointsMap().

◆ moveFrom()

void CSensoryFrame::moveFrom ( CSensoryFrame & sf )

Copies all the observation from another object, then erase them from the origin object (this method is fast since only pointers are copied); Previous objects in this objects are not deleted.

See also: operator +=

Definition at line 213 of file CSensoryFrame.cpp.

References m_observations.

Referenced by mrpt::hmtslam::CLocalMetricHypothesis::updateAreaFromLMH().

◆ operator delete() [1/3]

void mrpt::obs::CSensoryFrame::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 54 of file CSensoryFrame.h.

◆ operator delete() [2/3]

void mrpt::obs::CSensoryFrame::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 54 of file CSensoryFrame.h.

◆ operator delete() [3/3]

void mrpt::obs::CSensoryFrame::operator delete ( void * ptr )

inlinenoexcept

Definition at line 54 of file CSensoryFrame.h.

◆ operator delete[]()

void mrpt::obs::CSensoryFrame::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 54 of file CSensoryFrame.h.

◆ operator new() [1/3]

static void* mrpt::obs::CSensoryFrame::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 54 of file CSensoryFrame.h.

◆ operator new() [2/3]

void* mrpt::obs::CSensoryFrame::operator new ( size_t size )

inline

Definition at line 54 of file CSensoryFrame.h.

◆ operator new() [3/3]

void* mrpt::obs::CSensoryFrame::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 54 of file CSensoryFrame.h.

◆ operator new[]()

void* mrpt::obs::CSensoryFrame::operator new[] ( size_t size )

inline

Definition at line 54 of file CSensoryFrame.h.

◆ operator+=() [1/2]

void CSensoryFrame::operator+= ( const CSensoryFrame & sf )

You can use "sf1+=sf2;" to add observations in sf2 to sf1.

Objects are copied, not referenced, thus the source can be safely deleted next.

See also: moveFrom

Definition at line 105 of file CSensoryFrame.cpp.

References begin(), and MRPT_UNUSED_PARAM.

◆ operator+=() [2/2]

void CSensoryFrame::operator+= ( const CObservation::Ptr & obs )

You can use "sf+=obs;" to add the observation "obs" to the "sf1".

Objects are copied, using the smart pointer, thus the original pointer can be safely deleted next.

See also: moveFrom

Definition at line 121 of file CSensoryFrame.cpp.

◆ operator=()

CSensoryFrame & CSensoryFrame::operator= ( const CSensoryFrame & o )

Copy.

Definition at line 31 of file CSensoryFrame.cpp.

References mrpt::containers::clear(), m_observations, MRPT_END, and MRPT_START.

◆ push_back()

void CSensoryFrame::push_back ( const CObservation::Ptr & obs )

Inserts a new observation to the list: The pointer to the objects is copied, thus DO NOT delete the passed object, this class will do at destructor or when appropriate.

Definition at line 130 of file CSensoryFrame.cpp.

◆ serializeFrom()

void CSensoryFrame::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 59 of file CSensoryFrame.cpp.

References mrpt::containers::clear(), INVALID_TIMESTAMP, MRPT_END, MRPT_START, and MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeGetVersion()

uint8_t CSensoryFrame::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 48 of file CSensoryFrame.cpp.

◆ serializeTo()

void CSensoryFrame::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 49 of file CSensoryFrame.cpp.

References ASSERT_, and mrpt::serialization::CArchive::WriteAs().

◆ size()

size_t mrpt::obs::CSensoryFrame::size ( ) const

inline

Returns the number of observations in the list.

Definition at line 286 of file CSensoryFrame.h.

References m_observations.

◆ swap()

void CSensoryFrame::swap ( CSensoryFrame & sf )

Efficiently swaps the contents of two objects.

Definition at line 225 of file CSensoryFrame.cpp.

References m_cachedMap, and m_observations.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 68 of file CSerializable.h.

Member Data Documentation

◆ _init_CSensoryFrame

mrpt::rtti::CLASSINIT mrpt::obs::CSensoryFrame::_init_CSensoryFrame

staticprotected

Definition at line 54 of file CSensoryFrame.h.

◆ className

constexpr const char* mrpt::obs::CSensoryFrame::className = "CSensoryFrame"

static

Definition at line 54 of file CSensoryFrame.h.

◆ m_cachedMap

mrpt::maps::CMetricMap::Ptr mrpt::obs::CSensoryFrame::m_cachedMap

mutableprotected

A points map, build only under demand by the methods getAuxPointsMap() and buildAuxPointsMap().

It's a generic smart pointer to avoid depending here in the library mrpt-obs on classes on other libraries.

Definition at line 73 of file CSensoryFrame.h.

Referenced by buildAuxPointsMap(), getAuxPointsMap(), and swap().

◆ m_observations

std::deque<CObservation::Ptr> mrpt::obs::CSensoryFrame::m_observations

protected

The set of observations taken at the same time instant.

See the top of this page for instructions on accessing this.

Definition at line 352 of file CSensoryFrame.h.

Referenced by begin(), empty(), end(), moveFrom(), operator=(), size(), and swap().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::obs::CSensoryFrame::runtimeClassId

staticprotected

Definition at line 54 of file CSensoryFrame.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

RTTI stuff

Cached points map

Member Typedef Documentation

◆ const_iterator

◆ ConstPtr

◆ ConstUniquePtr

◆ iterator

◆ Ptr

◆ UniquePtr

Constructor & Destructor Documentation

◆ CSensoryFrame() [1/2]

◆ CSensoryFrame() [2/2]

Member Function Documentation

◆ _GetBaseClass()

◆ begin() [1/2]

◆ begin() [2/2]

◆ buildAuxPointsMap()

◆ clear()

◆ clone()

◆ Create()

◆ CreateObject()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ empty()

◆ end() [1/2]

◆ end() [2/2]

◆ erase()

◆ eraseByIndex()

◆ eraseByLabel()

◆ getAuxPointsMap()

◆ getClassName()

◆ getObservationByClass()

◆ getObservationByIndex()

◆ getObservationByIndexAs()

◆ getObservationBySensorLabel()

◆ getObservationBySensorLabelAs()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ insert()

◆ insertObservationsInto() [1/2]

◆ insertObservationsInto() [2/2]

◆ internal_buildAuxPointsMap()

◆ moveFrom()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ operator+=() [1/2]

◆ operator+=() [2/2]

◆ operator=()

◆ push_back()

◆ serializeFrom()

◆ serializeGetVersion()

◆ serializeTo()

◆ size()

◆ swap()

◆ writeToMatlab()

Member Data Documentation

◆ _init_CSensoryFrame

◆ className

◆ m_cachedMap

◆ m_observations

◆ runtimeClassId