Main MRPT website > C++ reference for MRPT 1.4.0
List of all members | Classes | Public Types | Public Member Functions | Public Attributes | Protected Member Functions
mrpt::obs::CObservationBearingRange Class Reference

Detailed Description

This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs.

This class can manage sensors that detect landmarks in a 2D plane (e.g. a laser scanner) or in the 3D space (e.g. a camera). There are two direction angles: yaw (azimuth) and pitch (negative elevation). For 2D sensors, the pitch must be always set to 0. See CObservationBearingRange::validCovariances for the instructions to fill the uncertainty covariances.

See also
CObservation

Definition at line 29 of file obs/CObservationBearingRange.h.

#include <mrpt/obs/CObservationBearingRange.h>

Inheritance diagram for mrpt::obs::CObservationBearingRange:
Inheritance graph

Classes

struct  TMeasurement
 Each one of the measurements: More...
 

Public Types

typedef std::vector< TMeasurementTMeasurementList
 

Public Member Functions

 CObservationBearingRange ()
 Default constructor.
 
void debugPrintOut ()
 Prints out the contents of the object.
 
void getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
 A general method to retrieve the sensor pose on the robot.
 
void setSensorPose (const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
 A general method to change the sensor pose on the robot.
 
void getDescriptionAsText (std::ostream &o) const MRPT_OVERRIDE
 Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.
 
template<class METRICMAP >
bool insertObservationInto (METRICMAP *theMap, const mrpt::poses::CPose3D *robotPose=NULL) const
 This method is equivalent to:
 
void getSensorPose (mrpt::math::TPose3D &out_sensorPose) const
 A general method to retrieve the sensor pose on the robot.
 
void setSensorPose (const mrpt::math::TPose3D &newSensorPose)
 A general method to change the sensor pose on the robot.
 
Delayed-load manual control methods.
virtual void load () const
 Makes sure all images and other fields which may be externally stored are loaded in memory.
 
virtual void unload ()
 Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).
 

Public Attributes

float minSensorDistance
 
float maxSensorDistance
 
float fieldOfView_yaw
 Information about the sensor: Ranges, in meters (0: there is no limits)
 
float fieldOfView_pitch
 Information about the sensor: The "field-of-view" of the sensor, in radians (for pitch ).
 
mrpt::poses::CPose3D sensorLocationOnRobot
 The position of the sensor on the robot.
 
TMeasurementList sensedData
 The list of observed ranges:

 
bool validCovariances
 True: The individual 3x3 covariance matrices must be taken into account, false (default): All the measurements have identical, diagonal 3x3 covariance matrices given by the values sensor_std_range,sensor_std_yaw,sensor_std_pitch.
 
float sensor_std_range
 Taken into account only if validCovariances=false: the standard deviation of the sensor noise model for range,yaw and pitch (in meters and radians).
 
float sensor_std_yaw
 
float sensor_std_pitch
 

Static Public Attributes

RTTI stuff <br>
static const mrpt::utils::TRuntimeClassId classCObservation
 

Protected Member Functions

void swap (CObservation &o)
 Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data.
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE
 
void readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE
 

RTTI stuff <br>

typedef CObservationBearingRangePtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CObservationBearingRange
 
static mrpt::utils::TRuntimeClassId classCObservationBearingRange
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const MRPT_OVERRIDE
 
virtual mrpt::utils::CObjectduplicate () const MRPT_OVERRIDE
 
static mrpt::utils::CObjectCreateObject ()
 
static CObservationBearingRangePtr Create ()
 

Data common to any observation

mrpt::system::TTimeStamp timestamp
 The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading.
 
std::string sensorLabel
 An arbitrary label that can be used to identify the sensor.
 
mrpt::system::TTimeStamp getTimeStamp () const
 Returns CObservation::timestamp for all kind of observations.
 
virtual mrpt::system::TTimeStamp getOriginalReceivedTimeStamp () const
 By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp.
 

Member Typedef Documentation

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 32 of file obs/CObservationBearingRange.h.

◆ TMeasurementList

Definition at line 67 of file obs/CObservationBearingRange.h.

Constructor & Destructor Documentation

◆ CObservationBearingRange()

mrpt::obs::CObservationBearingRange::CObservationBearingRange ( )

Default constructor.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId * mrpt::obs::CObservationBearingRange::_GetBaseClass ( )
staticprotected

◆ Create()

static CObservationBearingRangePtr mrpt::obs::CObservationBearingRange::Create ( )
static

◆ CreateObject()

static mrpt::utils::CObject * mrpt::obs::CObservationBearingRange::CreateObject ( )
static

◆ debugPrintOut()

void mrpt::obs::CObservationBearingRange::debugPrintOut ( )

Prints out the contents of the object.

◆ duplicate()

virtual mrpt::utils::CObject * mrpt::obs::CObservationBearingRange::duplicate ( ) const
virtual

◆ getDescriptionAsText()

void mrpt::obs::CObservationBearingRange::getDescriptionAsText ( std::ostream &  o) const
virtual

Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.

Note
If overried by derived classes, call base CObservation::getDescriptionAsText() first to show common information.
This is the text that appears in RawLogViewer when selecting an object in the dataset

Reimplemented from mrpt::obs::CObservation.

◆ getOriginalReceivedTimeStamp()

virtual mrpt::system::TTimeStamp mrpt::obs::CObservation::getOriginalReceivedTimeStamp ( ) const
inlinevirtualinherited

By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp.

See also
getTimeStamp()

Reimplemented in mrpt::obs::CObservationGPS, and mrpt::obs::CObservationVelodyneScan.

Definition at line 65 of file obs/CObservation.h.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId * mrpt::obs::CObservationBearingRange::GetRuntimeClass ( ) const
virtual

Reimplemented from mrpt::obs::CObservation.

◆ getSensorPose() [1/2]

void mrpt::obs::CObservation::getSensorPose ( mrpt::math::TPose3D out_sensorPose) const
inherited

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See also
setSensorPose

◆ getSensorPose() [2/2]

void mrpt::obs::CObservationBearingRange::getSensorPose ( mrpt::poses::CPose3D out_sensorPose) const
inlinevirtual

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See also
setSensorPose

Implements mrpt::obs::CObservation.

Definition at line 86 of file obs/CObservationBearingRange.h.

◆ getTimeStamp()

mrpt::system::TTimeStamp mrpt::obs::CObservation::getTimeStamp ( ) const
inlineinherited

Returns CObservation::timestamp for all kind of observations.

See also
getOriginalReceivedTimeStamp()

Definition at line 63 of file obs/CObservation.h.

◆ insertObservationInto()

template<class METRICMAP >
bool mrpt::obs::CObservation::insertObservationInto ( METRICMAP *  theMap,
const mrpt::poses::CPose3D robotPose = NULL 
) const
inlineinherited

This method is equivalent to:

map->insertObservation(this, robotPose)
Parameters
theMapThe map where this observation is to be inserted: the map will be updated.
robotPoseThe pose of the robot base for this observation, relative to the target metric map. Set to NULL (default) to use (0,0,0deg)
Returns
Returns true if the map has been updated, or false if this observations has nothing to do with a metric map (for example, a sound observation).
See also
CMetricMap, CMetricMap::insertObservation

Definition at line 83 of file obs/CObservation.h.

◆ load()

virtual void mrpt::obs::CObservation::load ( ) const
inlinevirtualinherited

Makes sure all images and other fields which may be externally stored are loaded in memory.

Note that for all CImages, calling load() is not required since the images will be automatically loaded upon first access, so load() shouldn't be needed to be called in normal cases by the user. If all the data were alredy loaded or this object has no externally stored data fields, calling this method has no effects.

See also
unload

Reimplemented in mrpt::obs::CObservation3DRangeScan.

Definition at line 125 of file obs/CObservation.h.

◆ readFromStream()

void mrpt::obs::CObservationBearingRange::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protected

◆ setSensorPose() [1/2]

void mrpt::obs::CObservation::setSensorPose ( const mrpt::math::TPose3D newSensorPose)
inherited

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See also
getSensorPose

◆ setSensorPose() [2/2]

void mrpt::obs::CObservationBearingRange::setSensorPose ( const mrpt::poses::CPose3D newSensorPose)
inlinevirtual

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See also
getSensorPose

Implements mrpt::obs::CObservation.

Definition at line 87 of file obs/CObservationBearingRange.h.

◆ swap()

void mrpt::obs::CObservation::swap ( CObservation o)
protectedinherited

Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data.

◆ unload()

virtual void mrpt::obs::CObservation::unload ( )
inlinevirtualinherited

Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).

See also
load

Reimplemented in mrpt::obs::CObservation3DRangeScan.

Definition at line 129 of file obs/CObservation.h.

◆ writeToStream()

void mrpt::obs::CObservationBearingRange::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protected

Member Data Documentation

◆ _init_CObservationBearingRange

mrpt::utils::CLASSINIT mrpt::obs::CObservationBearingRange::_init_CObservationBearingRange
staticprotected

Definition at line 32 of file obs/CObservationBearingRange.h.

◆ classCObservation

const mrpt::utils::TRuntimeClassId mrpt::obs::CObservation::classCObservation
staticinherited

Definition at line 50 of file obs/CObservation.h.

◆ classCObservationBearingRange

mrpt::utils::TRuntimeClassId mrpt::obs::CObservationBearingRange::classCObservationBearingRange
static

Definition at line 32 of file obs/CObservationBearingRange.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::obs::CObservationBearingRange::classinfo
static

Definition at line 32 of file obs/CObservationBearingRange.h.

◆ fieldOfView_pitch

float mrpt::obs::CObservationBearingRange::fieldOfView_pitch

Information about the sensor: The "field-of-view" of the sensor, in radians (for pitch ).

Definition at line 41 of file obs/CObservationBearingRange.h.

◆ fieldOfView_yaw

float mrpt::obs::CObservationBearingRange::fieldOfView_yaw

Information about the sensor: Ranges, in meters (0: there is no limits)

Information about the sensor: The "field-of-view" of the sensor, in radians (for yaw ).

Definition at line 40 of file obs/CObservationBearingRange.h.

◆ maxSensorDistance

float mrpt::obs::CObservationBearingRange::maxSensorDistance

Definition at line 39 of file obs/CObservationBearingRange.h.

◆ minSensorDistance

float mrpt::obs::CObservationBearingRange::minSensorDistance

Definition at line 39 of file obs/CObservationBearingRange.h.

◆ sensedData

TMeasurementList mrpt::obs::CObservationBearingRange::sensedData

The list of observed ranges:

Definition at line 70 of file obs/CObservationBearingRange.h.

◆ sensor_std_pitch

float mrpt::obs::CObservationBearingRange::sensor_std_pitch

Definition at line 79 of file obs/CObservationBearingRange.h.

◆ sensor_std_range

float mrpt::obs::CObservationBearingRange::sensor_std_range

Taken into account only if validCovariances=false: the standard deviation of the sensor noise model for range,yaw and pitch (in meters and radians).

If validCovariances=true, these 3 values are ignored and the individual 3x3 covariance matrices contain the actual uncertainties for each of the detected landmarks.

Definition at line 79 of file obs/CObservationBearingRange.h.

◆ sensor_std_yaw

float mrpt::obs::CObservationBearingRange::sensor_std_yaw

Definition at line 79 of file obs/CObservationBearingRange.h.

◆ sensorLabel

std::string mrpt::obs::CObservation::sensorLabel
inherited

An arbitrary label that can be used to identify the sensor.

Definition at line 60 of file obs/CObservation.h.

◆ sensorLocationOnRobot

mrpt::poses::CPose3D mrpt::obs::CObservationBearingRange::sensorLocationOnRobot

The position of the sensor on the robot.

Definition at line 45 of file obs/CObservationBearingRange.h.

◆ timestamp

mrpt::system::TTimeStamp mrpt::obs::CObservation::timestamp
inherited

The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading.

See also
getOriginalReceivedTimeStamp(), getTimeStamp()

Definition at line 59 of file obs/CObservation.h.

◆ validCovariances

bool mrpt::obs::CObservationBearingRange::validCovariances

True: The individual 3x3 covariance matrices must be taken into account, false (default): All the measurements have identical, diagonal 3x3 covariance matrices given by the values sensor_std_range,sensor_std_yaw,sensor_std_pitch.

Definition at line 74 of file obs/CObservationBearingRange.h.




Page generated by Doxygen 1.9.7 for MRPT 1.4.0 SVN: at Tue Jun 13 14:10:35 UTC 2023