Detailed Description

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).

See also:: CObservation

#include <mrpt/slam/CObservationRange.h>

Inheritance diagram for mrpt::slam::CObservationRange:

Classes
struct	TMeasurement
Public Types
typedef std::deque< TMeasurement >	TMeasurementList
typedef std::deque < TMeasurement > ::const_iterator	const_iterator
typedef std::deque < TMeasurement >::iterator	iterator
Public Member Functions
	CObservationRange ()
	Default constructor.
iterator	begin ()
iterator	end ()
const_iterator	begin () const
const_iterator	end () const
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
	The data members.
float	maxSensorDistance
float	sensorConeApperture
	Cone aperture of each ultrasonic beam, in radians.
TMeasurementList	sensedData
	All the measurements.
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 CObservationRangePtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CObservationRange
static mrpt::utils::TRuntimeClassId	classCObservationRange
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 CObservationRangePtr	Create ()

Member Typedef Documentation

typedef std::deque<TMeasurement>::const_iterator mrpt::slam::CObservationRange::const_iterator

Definition at line 84 of file CObservationRange.h.

typedef std::deque<TMeasurement>::iterator mrpt::slam::CObservationRange::iterator

Definition at line 85 of file CObservationRange.h.

typedef CObservationRangePtr mrpt::slam::CObservationRange::SmartPtr

A typedef for the associated smart pointer

Definition at line 52 of file CObservationRange.h.

typedef std::deque<TMeasurement> mrpt::slam::CObservationRange::TMeasurementList

Definition at line 83 of file CObservationRange.h.

Constructor & Destructor Documentation

mrpt::slam::CObservationRange::CObservationRange ( )

Default constructor.

Member Function Documentation

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

Reimplemented from mrpt::slam::CObservation.

iterator mrpt::slam::CObservationRange::begin ( ) [inline]

Definition at line 90 of file CObservationRange.h.

const_iterator mrpt::slam::CObservationRange::begin ( ) const [inline]

Definition at line 92 of file CObservationRange.h.

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 CObservationRangePtr mrpt::slam::CObservationRange::Create ( ) [static]

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

virtual mrpt::utils::CObject* mrpt::slam::CObservationRange::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.

iterator mrpt::slam::CObservationRange::end ( ) [inline]

Definition at line 91 of file CObservationRange.h.

const_iterator mrpt::slam::CObservationRange::end ( ) const [inline]

Definition at line 93 of file CObservationRange.h.

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CObservation.

void mrpt::slam::CObservationRange::getSensorPose ( CPose3D & out_sensorPose ) const [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.

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::CObservationRange::setSensorPose ( const CPose3D & newSensorPose ) [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.

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