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CObservation6DFeatures.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #ifndef CObservation6DFeatures_H
10 #define CObservation6DFeatures_H
11 
13 #include <mrpt/obs/CObservation.h>
14 #include <mrpt/poses/CPose3D.h>
16 
17 namespace mrpt
18 {
19 namespace obs
20 {
21 /** An observation of one or more "features" or "objects", possibly identified
22  * with a unique ID, whose relative SE(3) pose is observed with respect to the
23  * sensor.
24  * The list of features is stored in \a sensedFeatures
25  * \sa CObservation
26  * \ingroup mrpt_obs_grp
27  */
29 {
31  public:
32  /** Default ctor */
34 
35  /** Information about the sensor */
37 
38  /** Each one of the measurements */
39  struct TMeasurement
40  {
41  /** The observed feature SE(3) pose with respect to the sensor */
43  /** The feature ID, or INVALID_LANDMARK_ID if unidentified (default) */
45  /** The inverse of the observation covariance matrix (default:all zeros)
46  */
48 
49  /** Ctor with default values */
50  TMeasurement();
51 
52  MRPT_MAKE_ALIGNED_OPERATOR_NEW // Required because we contain Eigen
53  // matrices
54  };
55  /** The list of observed features */
57 
58  /** The pose of the sensor on the robot/vehicle */
60 
61  void getSensorPose(mrpt::poses::CPose3D& out_sensorPose)
62  const override; // See base class docs.
63  void setSensorPose(const mrpt::poses::CPose3D& newSensorPose)
64  override; // See base class docs.
66  std::ostream& o) const override; // See base class docs
67 
68 }; // End of class def.
69 
70 } // End of namespace
71 } // End of namespace
72 
73 #endif
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) override
A general method to change the sensor pose on the robot.
void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
mrpt::poses::CPose3D sensorPose
The pose of the sensor on the robot/vehicle.
float minSensorDistance
Information about the sensor.
#define MRPT_MAKE_ALIGNED_OPERATOR_NEW
Put this macro inside any class with members that require {16,32,64}-byte memory alignment (e...
A numeric matrix of compile-time fixed size.
std::deque< T, mrpt::aligned_allocator_cpp11< T > > aligned_std_deque
mrpt::poses::CPose3D pose
The observed feature SE(3) pose with respect to the sensor.
__int32 int32_t
Definition: rptypes.h:46
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:88
Declares a class that represents any robot&#39;s observation.
Definition: CObservation.h:43
An observation of one or more "features" or "objects", possibly identified with a unique ID...
mrpt::math::CMatrixDouble66 inf_matrix
The inverse of the observation covariance matrix (default:all zeros)
int32_t id
The feature ID, or INVALID_LANDMARK_ID if unidentified (default)
mrpt::aligned_std_deque< TMeasurement > sensedFeatures
The list of observed features.
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override
A general method to retrieve the sensor pose on the robot.



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