00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://www.mrpt.org/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CObservationReflectivity_H 00029 #define CObservationReflectivity_H 00030 00031 #include <mrpt/slam/CObservation.h> 00032 #include <mrpt/poses/CPose3D.h> 00033 00034 namespace mrpt 00035 { 00036 namespace slam 00037 { 00038 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationReflectivity , CObservation,OBS_IMPEXP ) 00039 00040 /** Declares a class derived from "CObservation" that encapsules a single short-range reflectivity measurement. 00041 * This can be used for example to store readings from IR sensors (Lego Mindstorm NXT, etc...). 00042 * 00043 * \sa mrpt::slam::CReflectivityGridMap2D, CObservation 00044 * \ingroup mrpt_obs_grp 00045 */ 00046 class OBS_IMPEXP CObservationReflectivity : public CObservation 00047 { 00048 // This must be added to any CSerializable derived class: 00049 DEFINE_SERIALIZABLE( CObservationReflectivity ) 00050 00051 public: 00052 CObservationReflectivity( ); //!< Default constructor. 00053 virtual ~CObservationReflectivity(); 00054 00055 /** The read reflectivity level, in the range [0,1] (0=black, 1=white). 00056 */ 00057 float reflectivityLevel; 00058 00059 /** The pose of this sensor in robot's local coordinates. 00060 */ 00061 CPose3D sensorPose; 00062 00063 /** 1-sigma of the sensor Gaussian noise (in the same normalized units than \a reflectivityLevel) 00064 */ 00065 float sensorStdNoise; 00066 00067 /** A general method to retrieve the sensor pose on the robot. 00068 * Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases. 00069 * \sa setSensorPose 00070 */ 00071 void getSensorPose( CPose3D &out_sensorPose ) const { out_sensorPose = sensorPose; } 00072 00073 /** A general method to change the sensor pose on the robot. 00074 * Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases. 00075 * \sa getSensorPose 00076 */ 00077 void setSensorPose( const CPose3D &newSensorPose ) { sensorPose = newSensorPose; } 00078 00079 }; // End of class def. 00080 00081 } // End of namespace 00082 } // End of namespace 00083 00084 #endif
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