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CObservationBeaconRanges.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 CObservationBeaconRanges_H
10 #define CObservationBeaconRanges_H
11 
13 #include <mrpt/obs/CObservation.h>
14 #include <mrpt/poses/CPoint3D.h>
15 #include <mrpt/poses/CPose2D.h>
16 #include <mrpt/poses/CPose3D.h>
17 
18 namespace mrpt
19 {
20 namespace obs
21 {
22 /** Declares a class derived from "CObservation" that represents one (or more)
23  * range measurements to labeled beacons.
24  * \sa CObservation
25  * \ingroup mrpt_obs_grp
26  */
28 {
30 
31  public:
32  /** ctor */
34 
35  /** Info about sensor */
37  /** The "sigma" of the sensor, assuming a zero-mean Gaussian noise model. */
38  float stdError;
39 
40  /** Each one of the measurements */
41  struct TMeasurement
42  {
45  sensedDistance(0),
47  {
48  }
49 
50  /** Position of the sensor on the robot */
52  /** The sensed range itself (in meters). */
54  /** The ID of the sensed beacon (or INVALID_BEACON_ID if unknown) */
56  };
57 
58  /** The list of observed ranges */
59  std::deque<TMeasurement> sensedData;
60 
61  /** The (X,Y,PHI) pose estimated by the UWB software, for comparison
62  * purposes (Added in streamming version 1) */
64 
65  /** Prints out the contents of the object */
66  void debugPrintOut();
67 
68  void getSensorPose(mrpt::poses::CPose3D& out_sensorPose)
69  const override; // See base class docs.
70  void setSensorPose(const mrpt::poses::CPose3D& newSensorPose)
71  override; // See base class docs.
73  std::ostream& o) const override; // See base class docs
74 
75  /** Easy look-up into the vector sensedData, returns the range for a given
76  * beacon, or 0 if the beacon is not observed */
77  float getSensedRangeByBeaconID(int32_t beaconID);
78 
79 }; // End of class def.
80 
81 } // End of namespace
82 } // End of namespace
83 
84 #endif
mrpt::poses::CPose2D auxEstimatePose
The (X,Y,PHI) pose estimated by the UWB software, for comparison purposes (Added in streamming versio...
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override
A general method to retrieve the sensor pose on the robot.
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) override
A general method to change the sensor pose on the robot.
Declares a class derived from "CObservation" that represents one (or more) range measurements to labe...
int32_t beaconID
The ID of the sensed beacon (or INVALID_BEACON_ID if unknown)
float getSensedRangeByBeaconID(int32_t beaconID)
Easy look-up into the vector sensedData, returns the range for a given beacon, or 0 if the beacon is ...
std::deque< TMeasurement > sensedData
The list of observed ranges.
A class used to store a 3D point.
Definition: CPoint3D.h:33
float stdError
The "sigma" of the sensor, assuming a zero-mean Gaussian noise model.
float sensedDistance
The sensed range itself (in meters).
#define INVALID_BEACON_ID
Used for CObservationBeaconRange, CBeacon, etc.
Definition: CObservation.h:24
__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 2D pose, including the 2D coordinate point and a heading (phi) angle...
Definition: CPose2D.h:40
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
mrpt::poses::CPoint3D sensorLocationOnRobot
Position of the sensor on the robot.
void debugPrintOut()
Prints out the contents of the object.
void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...



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