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CObservationBearingRange.h
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1 /* +---------------------------------------------------------------------------+
2  | The Mobile Robot Programming Toolkit (MRPT) C++ library |
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4  | http://www.mrpt.org/ |
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6  | Copyright (C) 2005-2012 University of Malaga |
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8  | This software was written by the Machine Perception and Intelligent |
9  | Robotics Lab, University of Malaga (Spain). |
10  | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |
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27  +---------------------------------------------------------------------------+ */
28 #ifndef CObservationBearingRange_H
29 #define CObservationBearingRange_H
30 
31 #include <mrpt/utils/CSerializable.h>
32 #include <mrpt/slam/CObservation.h>
33 #include <mrpt/poses/CPose3D.h>
34 
35 namespace mrpt
36 {
37 namespace slam
38 {
39  DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationBearingRange , CObservation, OBS_IMPEXP)
40 
41  /** This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs.
42  * 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
43  * two direction angles: yaw (azimuth) and pitch (negative elevation). For 2D sensors, the pitch must be always set to 0.
44  * See CObservationBearingRange::validCovariances for the instructions to fill the uncertainty covariances.
45  * \sa CObservation
46  * \ingroup mrpt_obs_grp
47  */
48  class OBS_IMPEXP CObservationBearingRange : public CObservation
49  {
50  // This must be added to any CSerializable derived class:
51  DEFINE_SERIALIZABLE( CObservationBearingRange )
52 
53  public:
54  /** Default constructor.
55  */
56  CObservationBearingRange( );
57 
58  float minSensorDistance, maxSensorDistance; //! Information about the sensor: Ranges, in meters (0: there is no limits)
59  float fieldOfView_yaw; //!< Information about the sensor: The "field-of-view" of the sensor, in radians (for yaw ).
60  float fieldOfView_pitch; //!< Information about the sensor: The "field-of-view" of the sensor, in radians (for pitch ).
61 
62  /** The position of the sensor on the robot.
63  */
64  CPose3D sensorLocationOnRobot;
65 
66  /** Each one of the measurements:
67  */
68  struct OBS_IMPEXP TMeasurement
69  {
70  /** The sensed landmark distance, in meters. */
71  float range;
72 
73  /** The sensed landmark direction, in radians, measured as the yaw (azimuth) and pitch (negative elevation).
74  * Set pitch to zero for 2D sensors.
75  * See mrpt::poses::CPose3D for a definition of the 3D angles.
76  */
77  float yaw,pitch;
78 
79  /** The ID of the sensed beacon, or INVALID_LANDMARK_ID (-1) if the sensor does not identify the landmark. */
80  int32_t landmarkID;
81 
82  /** The covariance matrix of the landmark, with variable indices [0,1,2] being [range,yaw,pitch]. */
83  CMatrixDouble33 covariance;
84  };
85 
86  typedef std::vector<TMeasurement> TMeasurementList;
87 
88  /** The list of observed ranges: */
89  TMeasurementList sensedData;
90 
91  /** 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.
92  */
93  bool validCovariances;
94 
95  /** Taken into account only if validCovariances=false: the standard deviation of the sensor noise model for range,yaw and pitch (in meters and radians).
96  * If validCovariances=true, these 3 values are ignored and the individual 3x3 covariance matrices contain the actual uncertainties for each of the detected landmarks.
97  */
98  float sensor_std_range,sensor_std_yaw,sensor_std_pitch;
99 
100  /** Prints out the contents of the object.
101  */
102  void debugPrintOut();
103 
104  /** A general method to retrieve the sensor pose on the robot.
105  * Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.
106  * \sa setSensorPose
107  */
108  void getSensorPose( CPose3D &out_sensorPose ) const { out_sensorPose = sensorLocationOnRobot; }
109 
110 
111  /** A general method to change the sensor pose on the robot.
112  * Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.
113  * \sa getSensorPose
114  */
115  void setSensorPose( const CPose3D &newSensorPose ) { sensorLocationOnRobot = newSensorPose; }
116 
117 
118  }; // End of class def.
119 
120 
121  } // End of namespace
122 } // End of namespace
123 
124 #endif


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