31 template <
class OBSERVATION_T>
36 using obs_t =
typename OBSERVATION_T::Ptr;
44 &OBSERVATION_T::GetRuntimeClassIdStatic();
45 if (observation && observation->GetRuntimeClass()->derivedFrom(class_ID))
47 cobs_ptr = std::dynamic_pointer_cast<OBSERVATION_T>(observation);
53 cobs_ptr = observations->getObservationByClass<OBSERVATION_T>();
57 if (cobs_ptr && sf_ptr)
59 obs_out = priority_to_sf ? sf_ptr : cobs_ptr;
71 obs_out =
typename OBSERVATION_T::Ptr();
A structure that holds runtime class type information.
OBSERVATION_T::Ptr getObservation(mrpt::obs::CSensoryFrame::Ptr &observations, mrpt::obs::CObservation::Ptr &observation, bool priority_to_sf=true)
Given an mrpt::obs::CSensoryFrame and a mrpt::obs::CObservation pointer if a OBSERVATION_T type obser...