Detailed Description

This namespace contains representation of robot actions and observations.

Namespaces
	detail

	gnss
	GNSS (GPS) data structures, mainly for use within mrpt::obs::CObservationGPS.

	utils

Classes
class	CAction
	Declares a class for storing a robot action. More...

class	CActionCollection
	Declares a class for storing a collection of robot actions. More...

class	CActionRobotMovement2D
	Represents a probabilistic 2D movement of the robot mobile base. More...

class	CActionRobotMovement3D
	Represents a probabilistic 3D (6D) movement. More...

class	CObservation
	Declares a class that represents any robot's observation. More...

class	CObservation2DRangeScan
	A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser scanner). More...

class	CObservation2DRangeScanWithUncertainty
	A 2D range scan plus an uncertainty model for each range. More...

class	CObservation3DRangeScan
	Declares a class derived from "CObservation" that encapsules a 3D range scan measurement, as from a time-of-flight range camera or any other RGBD sensor. More...

class	CObservation6DFeatures
	An observation of one or more "features" or "objects", possibly identified with a unique ID, whose relative SE(3) pose is observed with respect to the sensor. More...

class	CObservationBatteryState
	This represents a measurement of the batteries on the robot. More...

class	CObservationBeaconRanges
	Declares a class derived from "CObservation" that represents one (or more) range measurements to labeled beacons. More...

class	CObservationBearingRange
	This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs. More...

class	CObservationCANBusJ1939
	This class stores a message from a CAN BUS with the protocol J1939. More...

class	CObservationComment
	This "observation" is actually a placeholder for a text block with comments or additional parameters attached to a given rawlog file. More...

class	CObservationGasSensors
	Declares a class derived from "CObservation" that represents a set of readings from gas sensors. More...

class	CObservationGPS
	This class stores messages from GNSS or GNSS+IMU devices, from consumer-grade inexpensive GPS receivers to Novatel/Topcon/... More...

class	CObservationImage
	Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored. More...

class	CObservationIMU
	This class stores measurements from an Inertial Measurement Unit (IMU) (attitude estimation, raw gyroscope and accelerometer values), altimeters or magnetometers. More...

class	CObservationOdometry
	An observation of the current (cumulative) odometry for a wheeled robot. More...

class	CObservationRange
	Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters. More...

class	CObservationRawDAQ
	Store raw data from a Data Acquisition (DAQ) device, such that input or output analog and digital channels, counters from encoders, etc. More...

class	CObservationReflectivity
	Declares a class derived from "CObservation" that encapsules a single short-range reflectivity measurement. More...

class	CObservationRFID
	This represents one or more RFID tags observed by a receiver. More...

class	CObservationRGBD360
	Declares a class derived from "CObservation" that encapsules an omnidirectional RGBD measurement from a set of RGBD sensors. More...

class	CObservationRobotPose
	An observation providing an alternative robot pose from an external source. More...

class	CObservationSkeleton
	This class stores a skeleton as tracked by OPENNI2 & NITE2 libraries from PrimeSense sensors. More...

class	CObservationStereoImages
	Observation class for either a pair of left+right or left+disparity images from a stereo camera. More...

class	CObservationStereoImagesFeatures
	Declares a class derived from "CObservation" that encapsules a pair of cameras and a set of matched image features extracted from them. More...

class	CObservationVelodyneScan
	A `CObservation`-derived class for RAW DATA (and optionally, point cloud) of scans from 3D Velodyne LIDAR scanners. More...

class	CObservationVisualLandmarks
	Declares a class derived from "CObservation" that stores a Landmarks Map as seen from a stereo camera at a given instant of time. More...

class	CObservationWindSensor
	Declares a class derived from "CObservation" that represents the wind measurements taken on the robot by an anemometer. More...

class	CObservationWirelessPower
	This represents a measurement of the wireless strength perceived by the robot. More...

class	CRawlog
	This class stores a rawlog (robotic datasets) in one of two possible formats: More...

class	CSensoryFrame
	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. More...

class	CSinCosLookUpTableFor2DScans
	A smart look-up-table (LUT) of sin/cos values for 2D laser scans. More...

struct	T2DScanProperties
	Auxiliary struct that holds all the relevant geometry information about a 2D scan. More...

struct	T3DPointsProjectionParams
	Used in CObservation3DRangeScan::project3DPointsFromDepthImageInto() More...

struct	T3DPointsTo2DScanParams
	Used in CObservation3DRangeScan::convertTo2DScan() More...

struct	TRangeImageFilter
	Mainly for internal use within CObservation3DRangeScan::project3DPointsFromDepthImageInto() More...

struct	TRangeImageFilterParams
	Used in CObservation3DRangeScan::project3DPointsFromDepthImageInto() More...

struct	TStereoImageFeatures

struct	VelodyneCalibration
	Velodyne calibration data, for usage in mrpt::obs::CObservationVelodyneScan. More...

Typedefs
typedef std::pair< mrpt::system::TTimeStamp, CObservationPtr >	TTimeObservationPair
	For usage with CRawlog classes. More...

typedef std::multimap< mrpt::system::TTimeStamp, CObservationPtr >	TListTimeAndObservations
	For usage with CRawlog classes. More...

Enumerations
enum	TIMUDataIndex { IMU_X_ACC = 0, IMU_Y_ACC, IMU_Z_ACC, IMU_YAW_VEL, IMU_PITCH_VEL, IMU_ROLL_VEL, IMU_X_VEL, IMU_Y_VEL, IMU_Z_VEL, IMU_YAW, IMU_PITCH, IMU_ROLL, IMU_X, IMU_Y, IMU_Z, IMU_MAG_X, IMU_MAG_Y, IMU_MAG_Z, IMU_PRESSURE, IMU_ALTITUDE, IMU_TEMPERATURE, IMU_ORI_QUAT_X, IMU_ORI_QUAT_Y, IMU_ORI_QUAT_Z, IMU_ORI_QUAT_W, IMU_YAW_VEL_GLOBAL, IMU_PITCH_VEL_GLOBAL, IMU_ROLL_VEL_GLOBAL, IMU_X_ACC_GLOBAL, IMU_Y_ACC_GLOBAL, IMU_Z_ACC_GLOBAL, COUNT_IMU_DATA_FIELDS }
	Symbolic names for the indices of IMU data (refer to mrpt::obs::CObservationIMU) More...

Functions
::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CActionPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CActionCollectionPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CActionRobotMovement2DPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CActionRobotMovement3DPtr &pObj)

bool OBS_IMPEXP	carmen_log_parse_line (std::istream &in_stream, std::vector< mrpt::obs::CObservationPtr > &out_imported_observations, const mrpt::system::TTimeStamp &time_start_log)
	Parse one line from an text input stream and interpret it as a CARMEN log entry, returning its MRPT observation representation. More...

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservationPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservation2DRangeScanPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservation3DRangeScanPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservation6DFeaturesPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservationBatteryStatePtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservationBeaconRangesPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservationBearingRangePtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservationCANBusJ1939Ptr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservationCommentPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservationGasSensorsPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservationGPSPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservationImagePtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservationIMUPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservationOdometryPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservationRangePtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservationRawDAQPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservationReflectivityPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservationRFIDPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservationRGBD360Ptr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservationRobotPosePtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservationSkeletonPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservationStereoImagesPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservationStereoImagesFeaturesPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservationVelodyneScanPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservationWindSensorPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservationWirelessPowerPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CRawlogPtr &pObj)

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CSensoryFramePtr &pObj)

bool OBS_IMPEXP	operator< (const T2DScanProperties &a, const T2DScanProperties &b)
	Order operator, so T2DScanProperties can appear in associative STL containers. More...

::mrpt::utils::CStream &	operator>> (mrpt::utils::CStream &in, CObservationVisualLandmarksPtr &pObj)

Variables
void OBS_IMPEXP(*	ptr_internal_build_points_map_from_scan2D )(const mrpt::obs::CObservation2DRangeScan &obs, mrpt::maps::CMetricMapPtr &out_map, const void *insertOps) = NULL

Typedef Documentation

◆ TListTimeAndObservations

typedef std::multimap<mrpt::system::TTimeStamp, CObservationPtr> mrpt::obs::TListTimeAndObservations

For usage with CRawlog classes.

Definition at line 26 of file obs/CRawlog.h.

◆ TTimeObservationPair

typedef std::pair<mrpt::system::TTimeStamp, CObservationPtr> mrpt::obs::TTimeObservationPair

For usage with CRawlog classes.

Definition at line 25 of file obs/CRawlog.h.

Function Documentation

◆ operator<()

bool mrpt::obs::operator<	(	const T2DScanProperties &	a,
		const T2DScanProperties &	b
	)

Order operator, so T2DScanProperties can appear in associative STL containers.

Definition at line 468 of file CObservation2DRangeScan.cpp.

◆ operator>>() [1/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CActionRobotMovement3DPtr &	pObj
	)

◆ operator>>() [2/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservationRawDAQPtr &	pObj
	)

◆ operator>>() [3/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservationReflectivityPtr &	pObj
	)

◆ operator>>() [4/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservationCANBusJ1939Ptr &	pObj
	)

◆ operator>>() [5/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservationCommentPtr &	pObj
	)

◆ operator>>() [6/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservationBearingRangePtr &	pObj
	)

◆ operator>>() [7/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservationRobotPosePtr &	pObj
	)

◆ operator>>() [8/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservation6DFeaturesPtr &	pObj
	)

◆ operator>>() [9/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservationBatteryStatePtr &	pObj
	)

◆ operator>>() [10/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservationRangePtr &	pObj
	)

◆ operator>>() [11/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservationRFIDPtr &	pObj
	)

◆ operator>>() [12/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservationWirelessPowerPtr &	pObj
	)

◆ operator>>() [13/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservationVisualLandmarksPtr &	pObj
	)

◆ operator>>() [14/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CSensoryFramePtr &	pObj
	)

◆ operator>>() [15/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CActionRobotMovement2DPtr &	pObj
	)

◆ operator>>() [16/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservationBeaconRangesPtr &	pObj
	)

◆ operator>>() [17/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservationWindSensorPtr &	pObj
	)

◆ operator>>() [18/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservationSkeletonPtr &	pObj
	)

◆ operator>>() [19/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservationGasSensorsPtr &	pObj
	)

◆ operator>>() [20/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservationOdometryPtr &	pObj
	)

◆ operator>>() [21/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CActionCollectionPtr &	pObj
	)

◆ operator>>() [22/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservationGPSPtr &	pObj
	)

◆ operator>>() [23/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservationIMUPtr &	pObj
	)

◆ operator>>() [24/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CRawlogPtr &	pObj
	)

◆ operator>>() [25/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservationVelodyneScanPtr &	pObj
	)

◆ operator>>() [26/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservationImagePtr &	pObj
	)

◆ operator>>() [27/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservationStereoImagesPtr &	pObj
	)

◆ operator>>() [28/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CActionPtr &	pObj
	)

◆ operator>>() [29/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservationRGBD360Ptr &	pObj
	)

◆ operator>>() [30/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservation2DRangeScanPtr &	pObj
	)

◆ operator>>() [31/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservationPtr &	pObj
	)

◆ operator>>() [32/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservationStereoImagesFeaturesPtr &	pObj
	)

◆ operator>>() [33/33]

::mrpt::utils::CStream& mrpt::obs::operator>>	(	mrpt::utils::CStream &	in,
		CObservation3DRangeScanPtr &	pObj
	)

Variable Documentation

◆ ptr_internal_build_points_map_from_scan2D

void(* mrpt::obs::ptr_internal_build_points_map_from_scan2D)(const mrpt::obs::CObservation2DRangeScan &obs, mrpt::maps::CMetricMapPtr &out_map, const void *insertOps) = NULL

Definition at line 445 of file CObservation2DRangeScan.cpp.

Referenced by mrpt::obs::CSensoryFrame::internal_buildAuxPointsMap(), mrpt::obs::CObservation2DRangeScan::internal_buildAuxPointsMap(), and TAuxLoadFunctor::TAuxLoadFunctor().