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CObservationReflectivity.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 CObservationReflectivity_H
10 #define CObservationReflectivity_H
11 
12 #include <mrpt/obs/CObservation.h>
13 #include <mrpt/poses/CPose3D.h>
14 
15 namespace mrpt
16 {
17 namespace obs
18 {
19 /** Declares a class derived from "CObservation" that encapsules a single
20  * short-range reflectivity measurement.
21  * This can be used for example to store readings from IR sensors (Lego
22  * Mindstorm NXT, etc...).
23  *
24  * \sa mrpt::obs::CReflectivityGridMap2D, CObservation
25  * \ingroup mrpt_obs_grp
26  */
28 {
30 
31  public:
32  /** The read reflectivity level, in the range [0,1] (0=black, 1=white).
33  */
34  float reflectivityLevel{0.5f};
35 
36  /** The channel for this observation. If channel=-1, it can be inserted into
37  * any CReflectivityGridMap2D. Otherwise, it can only be inserted into
38  * reflectivity maps with the same channel. (Default=-1)
39  */
41 
42  /** The pose of this sensor in robot's local coordinates.
43  */
45 
46  /** 1-sigma of the sensor Gaussian noise (in the same normalized units than
47  * \a reflectivityLevel)
48  */
49  float sensorStdNoise{0.2f};
50 
51  // See base class docs
52  void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const override
53  {
54  out_sensorPose = sensorPose;
55  }
56  void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) override
57  {
58  sensorPose = newSensorPose;
59  }
60  void getDescriptionAsText(std::ostream& o) const override;
61 
62 }; // End of class def.
63 
64 } // End of namespace
65 } // End of namespace
66 
67 #endif
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) override
A general method to change the sensor pose on the robot.
float reflectivityLevel
The read reflectivity level, in the range [0,1] (0=black, 1=white).
Declares a class derived from "CObservation" that encapsules a single short-range reflectivity measur...
void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
float sensorStdNoise
1-sigma of the sensor Gaussian noise (in the same normalized units than reflectivityLevel) ...
mrpt::poses::CPose3D sensorPose
The pose of this sensor in robot&#39;s local coordinates.
__int16 int16_t
Definition: rptypes.h:43
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override
A general method to retrieve the sensor pose on the robot.
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
int16_t channel
The channel for this observation.



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