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

#include <mrpt/slam/CObservationBearingRange.h>

Inheritance diagram for mrpt::slam::CObservationBearingRange:

[legend]

List of all members.

Classes
struct	TMeasurement
	Each one of the measurements: More...
Public Types
typedef std::vector< TMeasurement >	TMeasurementList
Public Member Functions
	CObservationBearingRange ()
	Default constructor.
void	debugPrintOut ()
	Prints out the contents of the object.
void	getSensorPose (CPose3D &out_sensorPose) const
	A general method to retrieve the sensor pose on the robot.
void	setSensorPose (const CPose3D &newSensorPose)
	A general method to change the sensor pose on the robot.
template<class METRICMAP >
bool	insertObservationInto (METRICMAP theMap, const 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.
mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).
CObject *	clone () const
	Cloning interface for smart pointers.
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 ).
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
Data common to any observation
mrpt::system::TTimeStamp	timestamp
	The associated time-stamp.
std::string	sensorLabel
	An arbitrary label that can be used to identify the sensor.
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable
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.
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream.
virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCObservation
class	mrpt::utils::CStream
RTTI stuff
typedef CObservationBearingRangePtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CObservationBearingRange
static mrpt::utils::TRuntimeClassId	classCObservationBearingRange
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static CObservationBearingRangePtr	Create ()

Member Typedef Documentation

typedef CObservationBearingRangePtr mrpt::slam::CObservationBearingRange::SmartPtr

A typedef for the associated smart pointer

Definition at line 51 of file CObservationBearingRange.h.

typedef std::vector<TMeasurement> mrpt::slam::CObservationBearingRange::TMeasurementList

Definition at line 86 of file CObservationBearingRange.h.

Constructor & Destructor Documentation

mrpt::slam::CObservationBearingRange::CObservationBearingRange ( )

Default constructor.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationBearingRange::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::slam::CObservation.

CObject* mrpt::utils::CObject::clone ( ) const [inline, inherited]

Cloning interface for smart pointers.

Reimplemented in mrpt::opengl::CRenderizable, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 154 of file CObject.h.

static CObservationBearingRangePtr mrpt::slam::CObservationBearingRange::Create ( ) [static]

static mrpt::utils::CObject* mrpt::slam::CObservationBearingRange::CreateObject ( ) [static]

void mrpt::slam::CObservationBearingRange::debugPrintOut ( )

Prints out the contents of the object.

virtual mrpt::utils::CObject* mrpt::slam::CObservationBearingRange::duplicate ( ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const [inline, inherited]

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 151 of file CObject.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationBearingRange::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CObservation.

void mrpt::slam::CObservationBearingRange::getSensorPose ( CPose3D & out_sensorPose ) const [inline, virtual]

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::slam::CObservation.

Definition at line 108 of file CObservationBearingRange.h.

void mrpt::slam::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

template<class METRICMAP >

bool mrpt::slam::CObservation::insertObservationInto	(	METRICMAP *	theMap,
		const CPose3D *	robotPose = `NULL`
	)		const `[inline, inherited]`

This method is equivalent to:

                map->insertObservation(this, robotPose)

Parameters:

theMap	The map where this observation is to be inserted: the map will be updated.
robotPose	The 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 122 of file CObservation.h.

virtual void mrpt::slam::CObservation::load ( ) const [inline, virtual, inherited]

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::slam::CObservation3DRangeScan.

Definition at line 159 of file CObservation.h.

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)		`[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters:

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions:

std::exception On any error, see CStream::ReadBuffer

See also:: CStream

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

void mrpt::slam::CObservationBearingRange::setSensorPose ( const CPose3D & newSensorPose ) [inline, virtual]

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::slam::CObservation.

Definition at line 115 of file CObservationBearingRange.h.

void mrpt::slam::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

void mrpt::slam::CObservation::swap ( CObservation & o ) [protected, inherited]

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.

virtual void mrpt::slam::CObservation::unload ( ) [inline, virtual, inherited]

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::slam::CObservation3DRangeScan.

Definition at line 163 of file CObservation.h.

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const `[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters:

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions:

std::exception On any error, see CStream::WriteBuffer

See also:: CStream

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

Friends And Related Function Documentation

friend class mrpt::utils::CStream [friend, inherited]

Reimplemented from mrpt::utils::CSerializable.

Definition at line 84 of file CObservation.h.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::slam::CObservationBearingRange::_init_CObservationBearingRange [static, protected]

Definition at line 51 of file CObservationBearingRange.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject [static, inherited]

Definition at line 139 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::slam::CObservation::classCObservation [static, inherited]

Definition at line 84 of file CObservation.h.

mrpt::utils::TRuntimeClassId mrpt::slam::CObservationBearingRange::classCObservationBearingRange [static]

Definition at line 51 of file CObservationBearingRange.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable [static, inherited]

Definition at line 56 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationBearingRange::classinfo [static]

Definition at line 51 of file CObservationBearingRange.h.

float mrpt::slam::CObservationBearingRange::fieldOfView_pitch

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

Definition at line 60 of file CObservationBearingRange.h.

float mrpt::slam::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 59 of file CObservationBearingRange.h.

float mrpt::slam::CObservationBearingRange::maxSensorDistance

Definition at line 58 of file CObservationBearingRange.h.

float mrpt::slam::CObservationBearingRange::minSensorDistance

Definition at line 58 of file CObservationBearingRange.h.

TMeasurementList mrpt::slam::CObservationBearingRange::sensedData

The list of observed ranges:

Definition at line 89 of file CObservationBearingRange.h.

float mrpt::slam::CObservationBearingRange::sensor_std_pitch

Definition at line 98 of file CObservationBearingRange.h.

float mrpt::slam::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 98 of file CObservationBearingRange.h.

float mrpt::slam::CObservationBearingRange::sensor_std_yaw

Definition at line 98 of file CObservationBearingRange.h.

std::string mrpt::slam::CObservation::sensorLabel [inherited]

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

Definition at line 100 of file CObservation.h.

CPose3D mrpt::slam::CObservationBearingRange::sensorLocationOnRobot

The position of the sensor on the robot.

Definition at line 64 of file CObservationBearingRange.h.

mrpt::system::TTimeStamp mrpt::slam::CObservation::timestamp [inherited]

The associated time-stamp.

Definition at line 96 of file CObservation.h.

bool mrpt::slam::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 93 of file CObservationBearingRange.h.

Detailed Description

Classes

Public Types

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

RTTI stuff

RTTI stuff

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation