mrpt::obs::CObservationRange Class Reference

Detailed Description

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).

See also

CObservation

Definition at line 30 of file obs/CObservationRange.h.

#include <mrpt/obs/CObservationRange.h>

Inheritance diagram for mrpt::obs::CObservationRange:

Classes
struct	TMeasurement

Public Types
typedef std::deque< TMeasurement >	TMeasurementList
typedef std::deque< TMeasurement >::const_iterator	const_iterator
typedef std::deque< TMeasurement >::iterator	iterator

Public Member Functions
void *	operator new (size_t size)
void *	operator new[] (size_t size)
void	operator delete (void *ptr) throw ()
void	operator delete[] (void *ptr) throw ()
void	operator delete (void *memory, void *ptr) throw ()
void *	operator new (size_t size, const std::nothrow_t &) throw ()
void	operator delete (void *ptr, const std::nothrow_t &) throw ()
	CObservationRange ()
	Default constructor. More...
iterator	begin ()
iterator	end ()
const_iterator	begin () const
const_iterator	end () const
void	getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
	A general method to retrieve the sensor pose on the robot. More...
void	setSensorPose (const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
	A general method to change the sensor pose on the robot. More...
void	getDescriptionAsText (std::ostream &o) const MRPT_OVERRIDE
	Build a detailed, multi-line textual description of the observation contents and dump it to the output stream. More...
template<class METRICMAP >
bool	insertObservationInto (METRICMAP *theMap, const mrpt::poses::CPose3D *robotPose=NULL) const
	This method is equivalent to: More...
void	getSensorPose (mrpt::math::TPose3D &out_sensorPose) const
	A general method to retrieve the sensor pose on the robot. More...
void	setSensorPose (const mrpt::math::TPose3D &newSensorPose)
	A general method to change the sensor pose on the robot. 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...
CObject *	clone () const
	Cloning interface for smart pointers. More...
Delayed-load manual control methods.
virtual void	load () const
	Makes sure all images and other fields which may be externally stored are loaded in memory. More...
virtual void	unload ()
	Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect). More...
RTTI classes and functions
mrpt::utils::CObjectPtr	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)

Public Attributes
float	minSensorDistance
	The data members. More...
float	maxSensorDistance
float	sensorConeApperture
	Cone aperture of each ultrasonic beam, in radians. More...
TMeasurementList	sensedData
	All the measurements. More...

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCObservation
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
void	swap (CObservation &o)
	Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data. More...
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream. More...
void	readFromStream (mrpt::utils::CStream &in, int version)
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

Data common to any observation
mrpt::system::TTimeStamp	timestamp
	The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading. More...
std::string	sensorLabel
	An arbitrary label that can be used to identify the sensor. More...
mrpt::system::TTimeStamp	getTimeStamp () const
	Returns CObservation::timestamp for all kind of observations. More...
virtual mrpt::system::TTimeStamp	getOriginalReceivedTimeStamp () const
	By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp. More...

RTTI stuff
typedef CObservationRangePtr	Ptr
typedef CObservationRangePtr	ConstPtr
static mrpt::utils::CLASSINIT	_init_CObservationRange
static mrpt::utils::TRuntimeClassId	classCObservationRange
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime. More...
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...
static mrpt::utils::CObject *	CreateObject ()
static CObservationRangePtr	Create ()

Member Typedef Documentation

const_iterator

typedef std::deque<TMeasurement>::const_iterator mrpt::obs::CObservationRange::const_iterator

Definition at line 65 of file obs/CObservationRange.h.

ConstPtr

typedef CObservationRangePtr mrpt::obs::CObservationRange::ConstPtr

Definition at line 33 of file obs/CObservationRange.h.

iterator

typedef std::deque<TMeasurement>::iterator mrpt::obs::CObservationRange::iterator

Definition at line 66 of file obs/CObservationRange.h.

Ptr

typedef CObservationRangePtr mrpt::obs::CObservationRange::Ptr

A typedef for the associated smart pointer

Definition at line 33 of file obs/CObservationRange.h.

TMeasurementList

typedef std::deque<TMeasurement> mrpt::obs::CObservationRange::TMeasurementList

Definition at line 64 of file obs/CObservationRange.h.

Constructor & Destructor Documentation

CObservationRange()

CObservationRange::CObservationRange

(

)

Default constructor.

Definition at line 26 of file CObservationRange.cpp.

Member Function Documentation

_GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservationRange::_GetBaseClass ( )

staticprotected

begin() [1/2]

iterator mrpt::obs::CObservationRange::begin ( )

inline

Definition at line 71 of file obs/CObservationRange.h.

Referenced by mrpt::maps::CPointsMap::internal_insertObservation(), and mrpt::maps::COccupancyGridMap2D::sonarSimulator().

begin() [2/2]

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

inline

Definition at line 73 of file obs/CObservationRange.h.

clone()

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 133 of file CObject.h.

Create()

static CObservationRangePtr mrpt::obs::CObservationRange::Create ( )

static

Referenced by mrpt::hwdrivers::CBoardSonars::doProcess().

CreateObject()

static mrpt::utils::CObject* mrpt::obs::CObservationRange::CreateObject ( )

static

duplicate()

virtual mrpt::utils::CObject* mrpt::obs::CObservationRange::duplicate ( ) const

virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

duplicateGetSmartPtr()

mrpt::utils::CObjectPtr 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 162 of file CObject.h.

References mrpt::utils::CObjectPtr.

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

end() [1/2]

iterator mrpt::obs::CObservationRange::end ( )

inline

Definition at line 72 of file obs/CObservationRange.h.

Referenced by mrpt::maps::CPointsMap::internal_insertObservation(), and mrpt::maps::COccupancyGridMap2D::sonarSimulator().

end() [2/2]

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

inline

Definition at line 74 of file obs/CObservationRange.h.

getDescriptionAsText()

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

virtual

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

Note

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

Reimplemented from mrpt::obs::CObservation.

Definition at line 125 of file CObservationRange.cpp.

References mrpt::format(), mrpt::obs::CObservation::getDescriptionAsText(), and RAD2DEG.

getOriginalReceivedTimeStamp()

virtual mrpt::system::TTimeStamp mrpt::obs::CObservation::getOriginalReceivedTimeStamp ( ) const

inlinevirtualinherited

By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp.

See also

getTimeStamp()

Reimplemented in mrpt::obs::CObservationGPS, and mrpt::obs::CObservationVelodyneScan.

Definition at line 58 of file obs/CObservation.h.

GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservationRange::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::obs::CObservation.

getSensorPose() [1/2]

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

virtual

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

Implements mrpt::obs::CObservation.

Definition at line 106 of file CObservationRange.cpp.

Referenced by mrpt::maps::COccupancyGridMap2D::internal_insertObservation().

getSensorPose() [2/2]

void CObservation::getSensorPose ( mrpt::math::TPose3D &  out_sensorPose ) const

inherited

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

Definition at line 38 of file CObservation.cpp.

getTimeStamp()

mrpt::system::TTimeStamp mrpt::obs::CObservation::getTimeStamp ( ) const

inlineinherited

Returns CObservation::timestamp for all kind of observations.

See also

getOriginalReceivedTimeStamp()

Definition at line 56 of file obs/CObservation.h.

insertObservationInto()

template<class METRICMAP >

bool mrpt::obs::CObservation::insertObservationInto ( METRICMAP *  theMap, const mrpt::poses::CPose3D *  robotPose = NULL  ) const

inlineinherited

This method is equivalent to:

map->insertObservation(this, robotPose)

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 NULL (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: Maps and observations compatibility matrix

See also

CMetricMap, CMetricMap::insertObservation

Definition at line 77 of file obs/CObservation.h.

Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference().

load()

virtual void mrpt::obs::CObservation::load ( ) const

inlinevirtualinherited

Makes sure all images and other fields which may be externally stored are loaded in memory.

Note that for all CImages, calling load() is not required since the images will be automatically loaded upon first access, so load() shouldn't be needed to be called in normal cases by the user. If all the data were alredy loaded or this object has no externally stored data fields, calling this method has no effects.

See also

unload

Reimplemented in mrpt::obs::CObservation3DRangeScan.

Definition at line 119 of file obs/CObservation.h.

operator delete() [1/3]

void mrpt::obs::CObservationRange::operator delete ( void *  ptr ) throw ( )

inline

Definition at line 33 of file obs/CObservationRange.h.

operator delete() [2/3]

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

inline

Definition at line 33 of file obs/CObservationRange.h.

operator delete() [3/3]

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

inline

Definition at line 33 of file obs/CObservationRange.h.

operator delete[]()

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

inline

Definition at line 33 of file obs/CObservationRange.h.

operator new() [1/3]

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

inline

Definition at line 33 of file obs/CObservationRange.h.

operator new() [2/3]

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

inline

Definition at line 33 of file obs/CObservationRange.h.

operator new() [3/3]

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

inlinestatic

Definition at line 33 of file obs/CObservationRange.h.

operator new[]()

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

inline

Definition at line 33 of file obs/CObservationRange.h.

readFromStream()

void CObservationRange::readFromStream ( mrpt::utils::CStream &  in, int  version  )

protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

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 error, see CStream::ReadBuffer

See also

CStream

Implements mrpt::utils::CSerializable.

Definition at line 61 of file CObservationRange.cpp.

References INVALID_TIMESTAMP, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

setSensorPose() [1/2]

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

virtual

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

Implements mrpt::obs::CObservation.

Definition at line 116 of file CObservationRange.cpp.

setSensorPose() [2/2]

void CObservation::setSensorPose ( const mrpt::math::TPose3D &  newSensorPose )

inherited

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

Definition at line 45 of file CObservation.cpp.

swap()

void CObservation::swap ( CObservation &  o )

protectedinherited

Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data.

Definition at line 50 of file CObservation.cpp.

References mrpt::obs::CObservation::sensorLabel, and mrpt::obs::CObservation::timestamp.

Referenced by mrpt::obs::CObservationStereoImages::swap(), and mrpt::obs::CObservation3DRangeScan::swap().

unload()

virtual void mrpt::obs::CObservation::unload ( )

inlinevirtualinherited

Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).

See also

load

Reimplemented in mrpt::obs::CObservation3DRangeScan.

Definition at line 123 of file obs/CObservation.h.

writeToMatlab()

virtual mxArray* mrpt::utils::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 NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

writeToStream()

void CObservationRange::writeToStream ( mrpt::utils::CStream &  out, int *  getVersion  ) const

protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception

On any error, see CStream::WriteBuffer

See also

CStream

Implements mrpt::utils::CSerializable.

Definition at line 37 of file CObservationRange.cpp.

References version.

Member Data Documentation

_init_CObservationRange

mrpt::utils::CLASSINIT mrpt::obs::CObservationRange::_init_CObservationRange

staticprotected

Definition at line 33 of file obs/CObservationRange.h.

classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 118 of file CObject.h.

classCObservation

const mrpt::utils::TRuntimeClassId mrpt::obs::CObservation::classCObservation

staticinherited

Definition at line 43 of file obs/CObservation.h.

classCObservationRange

mrpt::utils::TRuntimeClassId mrpt::obs::CObservationRange::classCObservationRange

static

Definition at line 33 of file obs/CObservationRange.h.

classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 42 of file CSerializable.h.

classinfo

const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservationRange::classinfo

static

Definition at line 33 of file obs/CObservationRange.h.

maxSensorDistance

float mrpt::obs::CObservationRange::maxSensorDistance

Definition at line 43 of file obs/CObservationRange.h.

Referenced by mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::getObservation(), mrpt::maps::CPointsMap::internal_insertObservation(), and mrpt::maps::COccupancyGridMap2D::sonarSimulator().

minSensorDistance

float mrpt::obs::CObservationRange::minSensorDistance

The data members.

Definition at line 42 of file obs/CObservationRange.h.

Referenced by mrpt::hwdrivers::CBoardSonars::getObservation(), and mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::getObservation().

sensedData

TMeasurementList mrpt::obs::CObservationRange::sensedData

All the measurements.

Definition at line 68 of file obs/CObservationRange.h.

Referenced by mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::getObservation(), mrpt::maps::COccupancyGridMap2D::internal_insertObservation(), and mrpt::maps::CPointsMap::internal_insertObservation().

sensorConeApperture

float mrpt::obs::CObservationRange::sensorConeApperture

Cone aperture of each ultrasonic beam, in radians.

Definition at line 44 of file obs/CObservationRange.h.

Referenced by mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::getObservation(), mrpt::maps::COccupancyGridMap2D::internal_insertObservation(), mrpt::maps::CPointsMap::internal_insertObservation(), and mrpt::maps::COccupancyGridMap2D::sonarSimulator().

sensorLabel

std::string mrpt::obs::CObservation::sensorLabel

inherited

An arbitrary label that can be used to identify the sensor.

Definition at line 53 of file obs/CObservation.h.

Referenced by mrpt::obs::carmen_log_parse_line(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::hwdrivers::CRaePID::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CRaePID::getFullInfo(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::COpenNI2Sensor::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CWirelessPower::getObservation(), mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::getObservation(), mrpt::hwdrivers::CImpinjRFID::getObservation(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation(), mrpt::obs::CObservation6DFeatures::readFromStream(), mrpt::obs::CObservationStereoImages::readFromStream(), mrpt::obs::CObservation2DRangeScan::readFromStream(), mrpt::obs::CObservationVelodyneScan::readFromStream(), mrpt::obs::CObservation3DRangeScan::readFromStream(), mrpt::obs::CObservation::swap(), mrpt::obs::CObservationGPS::swap(), mrpt::obs::CObservation6DFeatures::writeToStream(), mrpt::obs::CObservationStereoImages::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::obs::CObservationVelodyneScan::writeToStream(), and mrpt::obs::CObservation3DRangeScan::writeToStream().

timestamp

mrpt::system::TTimeStamp mrpt::obs::CObservation::timestamp

inherited

The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading.

See also

getOriginalReceivedTimeStamp(), getTimeStamp()

Definition at line 52 of file obs/CObservation.h.

Referenced by mrpt::obs::carmen_log_parse_line(), mrpt::obs::CObservationVelodyneScan::TPointCloud::clear_deep(), mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::hwdrivers::CLMS100Eth::decodeScan(), mrpt::detectors::CObjectDetection::detectObjects(), mrpt::hwdrivers::CRaePID::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::obs::CObservationGasSensors::CMOSmodel::get_GasDistribution_estimation(), mrpt::hwdrivers::CRaePID::getFullInfo(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::COpenNI2_RGBD360::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CWirelessPower::getObservation(), mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors::getObservation(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CImageGrabber_OpenCV::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::hwdrivers::CImageGrabber_dc1394::getObservation(), mrpt::hwdrivers::CImageGrabber_FlyCapture2::getObservation(), mrpt::hwdrivers::CDUO3DCamera::getObservations(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::obs::CObservationGasSensors::CMOSmodel::inverse_MOSmodeling(), mrpt::maps::CLandmarksMap::loadOccupancyFeaturesFrom2DRangeScan(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromImageObservation(), mrpt::maps::CLandmarksMap::loadSiftFeaturesFromStereoImageObservation(), mrpt::obs::CObservationGasSensors::CMOSmodel::noise_filtering(), mrpt::hwdrivers::CGPSInterface::parse_NMEA(), mrpt::obs::CObservation6DFeatures::readFromStream(), mrpt::obs::CObservationStereoImages::readFromStream(), mrpt::obs::CObservation2DRangeScan::readFromStream(), mrpt::obs::CObservationVelodyneScan::readFromStream(), mrpt::obs::CObservation3DRangeScan::readFromStream(), mrpt::obs::CObservationGasSensors::CMOSmodel::save_log_map(), mrpt::maps::CLandmarksMap::simulateBeaconReadings(), mrpt::maps::CLandmarksMap::simulateRangeBearingReadings(), mrpt::obs::CObservation::swap(), mrpt::obs::CObservationGPS::swap(), velodyne_scan_to_pointcloud(), mrpt::obs::CObservation6DFeatures::writeToStream(), mrpt::obs::CObservationStereoImages::writeToStream(), mrpt::obs::CObservation2DRangeScan::writeToStream(), mrpt::obs::CObservationVelodyneScan::writeToStream(), and mrpt::obs::CObservation3DRangeScan::writeToStream().