Detailed Description

Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximately at the same time as one "snapshot" of the environment.

It can contain "observations" of many different kinds.

New observations can be added using:

 CObservationXXXPtr     o = CObservationXXX::Create();  // Create a smart pointer containing an object of class "CObservationXXX"
 o->(...)

 CSensoryFrame   sf;
 sf.insert(o);

The following methods are equivalent for adding new observations to a "sensory frame":

To examine the objects within a sensory frame, the following methods exist:

CSensoryFrame::getObservationByClass : Looks for some specific observation class.
CSensoryFrame::begin : To iterate over all observations.
CSensoryFrame::getObservationByIndex : To query by index.

Notice that contained observations objects are automatically deleted on this object's destruction or clear.

See also:: CObservation

#include <mrpt/slam/CSensoryFrame.h>

Inheritance diagram for mrpt::slam::CSensoryFrame:

[legend]

List of all members.

Public Types
typedef std::deque < CObservationPtr >::iterator	iterator
	You can use CSensoryFrame::begin to get a iterator to the first element.
typedef std::deque < CObservationPtr > ::const_iterator	const_iterator
	You can use CSensoryFrame::begin to get a iterator to the first element.
Public Member Functions
	CSensoryFrame ()
	Default constructor.
	CSensoryFrame (const CSensoryFrame &)
	Copy constructor.
CSensoryFrame &	operator= (const CSensoryFrame &o)
	Copy.
virtual	~CSensoryFrame ()
	Destructor.
void	clear ()
	Clear all current observations.
bool	insertObservationsInto (mrpt::slam::CMetricMap theMap, const CPose3D robotPose=NULL) const
	Insert all the observations in this SF into a metric map or any kind (see mrpt::slam::CMetricMap).
bool	insertObservationsInto (mrpt::slam::CMetricMapPtr &theMap, const CPose3D *robotPose=NULL) const
	Insert all the observations in this SF into a metric map or any kind (see mrpt::slam::CMetricMap).
void	operator+= (const CSensoryFrame &sf)
	You can use "sf1+=sf2;" to add observations in sf2 to sf1.
void	operator+= (const CObservationPtr &obs)
	You can use "sf+=obs;" to add the observation "obs" to the "sf1".
void	moveFrom (CSensoryFrame &sf)
	Copies all the observation from another object, then erase them from the origin object (this method is fast since only pointers are copied); Previous objects in this objects are not deleted.
void	push_back (const CObservationPtr &obs)
	Inserts a new observation to the list: The pointer to the objects is copied, thus DO NOT delete the passed object, this class will do at destructor or when appropriate.
void	insert (const CObservationPtr &obs)
	Inserts a new observation to the list: The pointer to the objects is copied, thus DO NOT delete the passed object, this class will do at destructor or when appropriate.
template<typename T >
T::SmartPtr	getObservationByClass (const size_t &ith=0) const
	Returns the i'th observation of a given class (or of a descendant class), or NULL if there is no such observation in the array.
const_iterator	begin () const
	Returns a iterator to the first observation: this is an example of usage:
const_iterator	end () const
	Returns a iterator to the end of the list of observations: this is an example of usage:
iterator	begin ()
	Returns a iterator to the first observation: this is an example of usage:
iterator	end ()
	Returns a iterator to the end of the list of observations: this is an example of usage:
size_t	size () const
	Returns the number of observations in the list.
bool	empty () const
	Returns true if there are no observations in the list.
void	eraseByIndex (const size_t &idx)
	Removes the i'th observation in the list (0=first).
iterator	erase (const iterator &it)
	Removes the given observation in the list, and return an iterator to the next element (or this->end() if it was the last one).
void	eraseByLabel (const std::string &label)
	Removes all the observations that match a given sensorLabel.
CObservationPtr	getObservationByIndex (const size_t &idx) const
	Returns the i'th observation in the list (0=first).
template<typename T >
T	getObservationByIndexAs (const size_t &idx) const
	Returns the i'th observation in the list (0=first), and as a different smart pointer type:
CObservationPtr	getObservationBySensorLabel (const std::string &label, const size_t &idx=0) const
	Returns the i'th observation in the list with the given "sensorLabel" (0=first).
template<typename T >
T	getObservationBySensorLabelAs (const std::string &label, const size_t &idx=0) const
	Returns the i'th observation in the list with the given "sensorLabel" (0=first), and as a different smart pointer type:
void	swap (CSensoryFrame &sf)
	Efficiently swaps the contents of two objects.
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.
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
Protected Member Functions
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.
Protected Attributes
std::deque< CObservationPtr >	m_observations
	The set of observations taken at the same time instant.
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable
class	mrpt::utils::CStream
RTTI stuff
typedef CSensoryFramePtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CSensoryFrame
static mrpt::utils::TRuntimeClassId	classCSensoryFrame
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 CSensoryFramePtr	Create ()
Cached points map
mrpt::slam::CMetricMapPtr	m_cachedMap
	A points map, build only under demand by the methods getAuxPointsMap() and buildAuxPointsMap().
template<class POINTSMAP >
const POINTSMAP *	getAuxPointsMap () const
	Returns the cached points map representation of the scan, if already build with buildAuxPointsMap(), or NULL otherwise.
template<class POINTSMAP >
const POINTSMAP *	buildAuxPointsMap (const void *options=NULL) const
	Returns a cached points map representing this laser scan, building it upon the first call.
void	internal_buildAuxPointsMap (const void *options=NULL) const
	Internal method, used from buildAuxPointsMap()

Member Typedef Documentation

typedef std::deque<CObservationPtr>::const_iterator mrpt::slam::CSensoryFrame::const_iterator

You can use CSensoryFrame::begin to get a iterator to the first element.

Definition at line 218 of file CSensoryFrame.h.

typedef std::deque<CObservationPtr>::iterator mrpt::slam::CSensoryFrame::iterator

You can use CSensoryFrame::begin to get a iterator to the first element.

Definition at line 214 of file CSensoryFrame.h.

typedef CSensoryFramePtr mrpt::slam::CSensoryFrame::SmartPtr

A typedef for the associated smart pointer

Definition at line 76 of file CSensoryFrame.h.

Constructor & Destructor Documentation

mrpt::slam::CSensoryFrame::CSensoryFrame ( )

Default constructor.

mrpt::slam::CSensoryFrame::CSensoryFrame ( const CSensoryFrame & )

Copy constructor.

virtual mrpt::slam::CSensoryFrame::~CSensoryFrame ( ) [virtual]

Destructor.

Member Function Documentation

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

Reimplemented from mrpt::utils::CSerializable.

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

Returns a iterator to the first observation: this is an example of usage:

   CSensoryFrame  sf;
   ...
   for (CSensoryFrame::iterator it=sf.begin();it!=sf.end();++it)
          {
      (*it)->... // (*it) is a "CObservation*"
   }

Definition at line 231 of file CSensoryFrame.h.

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

Returns a iterator to the first observation: this is an example of usage:

   CSensoryFrame  sf;
   ...
   for (CSensoryFrame::iterator it=sf.begin();it!=sf.end();++it)
          {
      (*it)->... // (*it) is a "CObservation*"
   }

Definition at line 257 of file CSensoryFrame.h.

template<class POINTSMAP >

const POINTSMAP* mrpt::slam::CSensoryFrame::buildAuxPointsMap ( const void * options = NULL ) const [inline]

Returns a cached points map representing this laser scan, building it upon the first call.

Parameters:

options

Can be NULL to use default point maps' insertion options, or a pointer to a "CPointsMap::TInsertionOptions" structure to override some params. Usage:

    mrpt::slam::CPointsMap *map = sf->buildAuxPointsMap<mrpt::slam::CPointsMap>(&options or NULL);

See also:: getAuxPointsMap

Definition at line 120 of file CSensoryFrame.h.

void mrpt::slam::CSensoryFrame::clear ( )

Clear all current observations.

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 CSensoryFramePtr mrpt::slam::CSensoryFrame::Create ( ) [static]

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

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

bool mrpt::slam::CSensoryFrame::empty ( ) const [inline]

Returns true if there are no observations in the list.

Definition at line 277 of file CSensoryFrame.h.

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

Returns a iterator to the end of the list of observations: this is an example of usage:

   CSensoryFrame  sf;
   ...
   for (CSensoryFrame::iterator it=sf.begin();it!=sf.end();++it)
          {
      (*it)->... // (*it) is a "CObservation*"
   }

Definition at line 244 of file CSensoryFrame.h.

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

Returns a iterator to the end of the list of observations: this is an example of usage:

   CSensoryFrame  sf;
   ...
   for (CSensoryFrame::iterator it=sf.begin();it!=sf.end();++it)
          {
      (*it)->... // (*it) is a "CObservation*"
   }

Definition at line 270 of file CSensoryFrame.h.

iterator mrpt::slam::CSensoryFrame::erase ( const iterator & it )

Removes the given observation in the list, and return an iterator to the next element (or this->end() if it was the last one).

void mrpt::slam::CSensoryFrame::eraseByIndex ( const size_t & idx )

Removes the i'th observation in the list (0=first).

void mrpt::slam::CSensoryFrame::eraseByLabel ( const std::string & label )

Removes all the observations that match a given sensorLabel.

template<class POINTSMAP >

const POINTSMAP* mrpt::slam::CSensoryFrame::getAuxPointsMap ( ) const [inline]

Returns the cached points map representation of the scan, if already build with buildAuxPointsMap(), or NULL otherwise.

Usage:

    mrpt::slam::CPointsMap *map = obs->getAuxPointsMap<mrpt::slam::CPointsMap>();

See also:: buildAuxPointsMap

Definition at line 107 of file CSensoryFrame.h.

template<typename T >

T::SmartPtr mrpt::slam::CSensoryFrame::getObservationByClass ( const size_t & ith = 0 ) const [inline]

Returns the i'th observation of a given class (or of a descendant class), or NULL if there is no such observation in the array.

Example:

                                        CObservationImagePtr obs = m_SF->getObservationByClass<CObservationImage>();

By default (ith=0), the first observation is returned.

Definition at line 199 of file CSensoryFrame.h.

References MRPT_START, begin(), end(), and MRPT_END.

CObservationPtr mrpt::slam::CSensoryFrame::getObservationByIndex ( const size_t & idx ) const

Returns the i'th observation in the list (0=first).

See also:: begin, size

template<typename T >

T mrpt::slam::CSensoryFrame::getObservationByIndexAs ( const size_t & idx ) const [inline]

Returns the i'th observation in the list (0=first), and as a different smart pointer type:

   sf.getObservationByIndexAs<CObservationStereoImagesPtr>(i);

See also:: begin, size

Definition at line 302 of file CSensoryFrame.h.

CObservationPtr mrpt::slam::CSensoryFrame::getObservationBySensorLabel	(	const std::string &	label,
		const size_t &	idx = `0`
	)		const

Returns the i'th observation in the list with the given "sensorLabel" (0=first).

Returns:: The observation, or NULL if not found.

See also:: begin, size

template<typename T >

T mrpt::slam::CSensoryFrame::getObservationBySensorLabelAs	(	const std::string &	label,
		const size_t &	idx = `0`
	)		const `[inline]`

Returns the i'th observation in the list with the given "sensorLabel" (0=first), and as a different smart pointer type:

   sf.getObservationBySensorLabelAs<CObservationStereoImagesPtr>(i);

See also:: begin, size

Definition at line 320 of file CSensoryFrame.h.

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

void mrpt::slam::CSensoryFrame::insert ( const CObservationPtr & obs )

Inserts a new observation to the list: The pointer to the objects is copied, thus DO NOT delete the passed object, this class will do at destructor or when appropriate.

bool mrpt::slam::CSensoryFrame::insertObservationsInto	(	mrpt::slam::CMetricMap *	theMap,
		const CPose3D *	robotPose = `NULL`
	)		const

Insert all the observations in this SF into a metric map or any kind (see mrpt::slam::CMetricMap).

It calls CObservation::insertObservationInto for all stored observation.

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:: mrpt::slam::CMetricMap, CObservation::insertObservationInto, CMetricMap::insertObservation

bool mrpt::slam::CSensoryFrame::insertObservationsInto	(	mrpt::slam::CMetricMapPtr &	theMap,
		const CPose3D *	robotPose = `NULL`
	)		const `[inline]`

Insert all the observations in this SF into a metric map or any kind (see mrpt::slam::CMetricMap).

It calls CObservation::insertObservationInto for all stored observation.

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:: mrpt::slam::CMetricMap, CObservation::insertObservationInto, CMetricMap::insertObservation

Definition at line 162 of file CSensoryFrame.h.

References mrpt::slam::CMetricMapPtr::pointer().

void mrpt::slam::CSensoryFrame::internal_buildAuxPointsMap ( const void * options = NULL ) const [protected]

Internal method, used from buildAuxPointsMap()

void mrpt::slam::CSensoryFrame::moveFrom ( CSensoryFrame & sf )

Copies all the observation from another object, then erase them from the origin object (this method is fast since only pointers are copied); Previous objects in this objects are not deleted.

See also:: operator +=

void mrpt::slam::CSensoryFrame::operator+= ( const CSensoryFrame & sf )

You can use "sf1+=sf2;" to add observations in sf2 to sf1.

Objects are copied, not referenced, thus the source can be safely deleted next.

See also:: moveFrom

void mrpt::slam::CSensoryFrame::operator+= ( const CObservationPtr & obs )

You can use "sf+=obs;" to add the observation "obs" to the "sf1".

Objects are copied, using the smart pointer, thus the original pointer can be safely deleted next.

See also:: moveFrom

CSensoryFrame& mrpt::slam::CSensoryFrame::operator= ( const CSensoryFrame & o )

Copy.

void mrpt::slam::CSensoryFrame::push_back ( const CObservationPtr & obs )

Inserts a new observation to the list: The pointer to the objects is copied, thus DO NOT delete the passed object, this class will do at destructor or when appropriate.

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.

size_t mrpt::slam::CSensoryFrame::size ( ) const [inline]

Returns the number of observations in the list.

Definition at line 274 of file CSensoryFrame.h.

void mrpt::slam::CSensoryFrame::swap ( CSensoryFrame & sf )

Efficiently swaps the contents of two objects.

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