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obs/CObservation6DFeatures.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, 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
14#include <mrpt/poses/CPose3D.h>
16
17namespace mrpt
18{
19namespace obs
20{
22
23 /** 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.
24 * The list of features is stored in \a sensedFeatures
25 * \sa CObservation
26 * \ingroup mrpt_obs_grp
27 */
29 {
30 // This must be added to any CSerializable derived class:
32 public:
33 CObservation6DFeatures( ); //!< Default ctor
34
35 float minSensorDistance, maxSensorDistance; //!< Information about the sensor
36
37 /** Each one of the measurements */
39 {
40 mrpt::poses::CPose3D pose; //!< The observed feature SE(3) pose with respect to the sensor
41 int32_t id; //!< The feature ID, or INVALID_LANDMARK_ID if unidentified (default)
42 mrpt::math::CMatrixDouble66 inf_matrix; //!< The inverse of the observation covariance matrix (default:all zeros)
43
44 TMeasurement(); //!< Ctor with default values
45
46 MRPT_MAKE_ALIGNED_OPERATOR_NEW // Required because we contain Eigen matrices
47 };
49
50 mrpt::poses::CPose3D sensorPose; //!< The pose of the sensor on the robot/vehicle
51
52 void getSensorPose( mrpt::poses::CPose3D &out_sensorPose ) const MRPT_OVERRIDE;// See base class docs.
53 void setSensorPose( const mrpt::poses::CPose3D &newSensorPose ) MRPT_OVERRIDE;// See base class docs.
54 void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE;// See base class docs
55
56 }; // End of class def.
58
59 } // End of namespace
60} // End of namespace
61
62#endif
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
A numeric matrix of compile-time fixed size.
An observation of one or more "features" or "objects", possibly identified with a unique ID,...
void getDescriptionAsText(std::ostream &o) const MRPT_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.
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
A general method to retrieve the sensor pose on the robot.
float maxSensorDistance
Information about the sensor.
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
A general method to change the sensor pose on the robot.
mrpt::aligned_containers< TMeasurement >::deque_t sensedFeatures
The list of observed features.
Declares a class that represents any robot's observation.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:73
#define MRPT_MAKE_ALIGNED_OPERATOR_NEW
Definition: memory.h:112
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Definition: mrpt_macros.h:28
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
std::deque< TYPE1, Eigen::aligned_allocator< TYPE1 > > deque_t
int32_t id
The feature ID, or INVALID_LANDMARK_ID if unidentified (default)
mrpt::math::CMatrixDouble66 inf_matrix
The inverse of the observation covariance matrix (default:all zeros)
mrpt::poses::CPose3D pose
The observed feature SE(3) pose with respect to the sensor.



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