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CObservationRobotPose.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 CObservationRobotPose_H
10 #define CObservationRobotPose_H
11 
13 #include <mrpt/obs/CObservation.h>
15 
16 namespace mrpt
17 {
18 namespace obs
19 {
20 /** An observation providing an alternative robot pose from an external source.
21  * \sa CObservation
22  * \ingroup mrpt_obs_grp
23  */
25 {
27  public:
28  /** The observed robot pose */
30 
31  /** The pose of the sensor on the robot/vehicle */
33 
34  void getSensorPose(mrpt::poses::CPose3D& out_sensorPose)
35  const override; // See base class docs.
36  void setSensorPose(const mrpt::poses::CPose3D& newSensorPose)
37  override; // See base class docs.
39  std::ostream& o) const override; // See base class docs
40 
41 }; // End of class def.
42 
43 } // End of namespace
44 } // End of namespace
45 
46 #endif
An observation providing an alternative robot pose from an external source.
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) override
A general method to change the sensor pose on the robot.
mrpt::poses::CPose3D sensorPose
The pose of the sensor on the robot/vehicle.
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...
mrpt::poses::CPose3DPDFGaussian pose
The observed robot pose.
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
void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
Declares a class that represents a Probability Density function (PDF) of a 3D pose ...
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override
A general method to retrieve the sensor pose on the robot.



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