CObservationRange.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2011  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
   |                                                                           |
   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#ifndef CObservationRange_H
#define CObservationRange_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/slam/CObservation.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose2D.h>

namespace mrpt
{
namespace slam
{
        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationRange , CObservation,OBS_IMPEXP )

        /** Declares a class derived from "CObservation" that
               encapsules a single range measurement, and associated parameters. This can be used
         *     for example to store measurements from infrared proximity sensors (IR) or ultrasonic sensors (sonars).
         *
         * \sa CObservation
         * \ingroup mrpt_obs_grp
         */
        class OBS_IMPEXP CObservationRange : public CObservation
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CObservationRange )

         public:
                /** Default constructor.
                 */
                CObservationRange( );

                 /** The data members
                  */
                float   minSensorDistance;
                float   maxSensorDistance;
                float   sensorConeApperture;  //!< Cone aperture of each ultrasonic beam, in radians.

                struct OBS_IMPEXP TMeasurement
                {
                        TMeasurement() : sensorID(0), sensorPose(), sensedDistance(0)
                        {}

                        /** Some kind of sensor ID which identifies it on the bus (if applicable, 0 otherwise)
                          */
                        uint16_t        sensorID;

                        /** The 6D position of the sensor on the robot.
                          */
                        math::TPose3D   sensorPose;

                        /** The measured range, in meters (or a value of 0 if there was no detected echo).
                          */
                        float           sensedDistance;
                };

                typedef std::deque<TMeasurement>                    TMeasurementList;
                typedef std::deque<TMeasurement>::const_iterator    const_iterator;
                typedef std::deque<TMeasurement>::iterator          iterator;

                TMeasurementList sensedData; //!< All the measurements


                iterator begin() { return sensedData.begin(); }
                iterator end() { return sensedData.end(); }
                const_iterator begin() const { return sensedData.begin(); }
                const_iterator end() const { return sensedData.end(); }

                /** 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.
                  * \sa setSensorPose
                  */
                void getSensorPose( CPose3D &out_sensorPose ) const;


                /** 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.
                  * \sa getSensorPose
                  */
                void setSensorPose( const CPose3D &newSensorPose );


        }; // End of class def.


        } // End of namespace
} // End of namespace

#endif