Declares a class that represents any robot's observation.
This is a base class for many types of sensors
observations. Users can add a new observation type
creating a new class deriving from this one.<br>
<b>IMPORTANT</b>: Observations doesn't include any information about the
robot pose beliefs, just the raw observation and, where
aplicable, information about sensor position or
orientation respect to robotic coordinates origin.
- See Also
- CSensoryFrame, CMetricMap
Definition at line 81 of file CObservation.h.
|
| | CObservation () |
| | Constructor: It sets the initial timestamp to current time.
|
| |
| template<class METRICMAP > |
| bool | insertObservationInto (METRICMAP *theMap, const CPose3D *robotPose=NULL) const |
| | This method is equivalent to:
|
| |
| virtual void | getSensorPose (CPose3D &out_sensorPose) const =0 |
| | A general method to retrieve the sensor pose on the robot.
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| |
| void | getSensorPose (mrpt::math::TPose3D &out_sensorPose) const |
| | A general method to retrieve the sensor pose on the robot.
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| |
| virtual void | setSensorPose (const CPose3D &newSensorPose)=0 |
| | A general method to change the sensor pose on the robot.
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| |
| void | setSensorPose (const mrpt::math::TPose3D &newSensorPose) |
| | A general method to change the sensor pose on the robot.
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| |
| virtual CObject * | duplicate () const =0 |
| | Returns a copy of the object, indepently of its class.
|
| |
| 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.
|
| |
|
| virtual void | load () const |
| | Makes sure all images and other fields which may be externally stored are loaded in memory.
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| |
| virtual void | unload () |
| | Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).
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| |
| virtual void mrpt::slam::CObservation::load |
( |
| ) |
const |
|
inlinevirtual |
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.
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|
protectedpure virtualinherited |
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
-
- See Also
- CStream
Implemented in mrpt::reactivenav::CLogFileRecord_ND, mrpt::utils::CSimpleDatabase, mrpt::slam::CObservation3DRangeScan, mrpt::utils::CImage, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::slam::COccupancyGridMap2D, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::slam::CHeightGridMap2D, mrpt::slam::CObservationIMU, mrpt::poses::CPose3D, mrpt::slam::CMultiMetricMapPDF, mrpt::slam::CLandmarksMap, mrpt::vision::CFeature, mrpt::slam::CMultiMetricMap, mrpt::slam::CRawlog, mrpt::slam::CSensoryFrame, mrpt::slam::CObservation2DRangeScan, mrpt::poses::CPointPDFParticles, mrpt::poses::CPose3DInterpolator, mrpt::opengl::COpenGLViewport, mrpt::math::CMatrixD, mrpt::slam::CBeaconMap, mrpt::slam::CReflectivityGridMap2D, mrpt::math::CMatrix, mrpt::opengl::CPointCloud, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CPointCloudColoured, mrpt::detectors::CDetectable2D, mrpt::opengl::COpenGLScene, mrpt::utils::CMHPropertiesValuesList, mrpt::opengl::CPlanarLaserScan, mrpt::opengl::CFrustum, mrpt::poses::CPose3DRotVec, mrpt::slam::CWirelessPowerGridMap2D, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPose3DQuat, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::hmtslam::CHMHMapNode, mrpt::slam::CBeacon, mrpt::slam::CObservationStereoImages, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CText3D, mrpt::slam::CObservationStereoImagesFeatures, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::slam::CLandmark, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::hmtslam::CRobotPosesGraph, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CMesh, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::slam::CGasConcentrationGridMap2D, mrpt::slam::CObservationImage, mrpt::opengl::CSetOfLines, mrpt::opengl::CText, mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CPolyhedron, mrpt::poses::CPosePDFGaussianInf, mrpt::hmtslam::CHierarchicalMHMap, mrpt::opengl::CAngularObservationMesh, mrpt::slam::CColouredPointsMap, mrpt::slam::CIncrementalMapPartitioner, mrpt::slam::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::poses::CPose2D, mrpt::hmtslam::CHMHMapArc, mrpt::slam::CSimplePointsMap, mrpt::opengl::CDisk, mrpt::opengl::CSetOfObjects, mrpt::poses::CPose3DPDFSOG, mrpt::slam::CActionRobotMovement2D, mrpt::slam::CObservationBatteryState, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPoint3D, mrpt::poses::CPosePDFGaussian, mrpt::utils::TCamera, mrpt::slam::CSimpleMap, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CSphere, mrpt::slam::CWeightedPointsMap, mrpt::opengl::CCamera, mrpt::poses::CPosePDFGrid, mrpt::utils::CStringList, mrpt::slam::CObservationOdometry, mrpt::opengl::CBox, mrpt::opengl::CSetOfTexturedTriangles, mrpt::utils::CMemoryChunk, mrpt::slam::CActionCollection, mrpt::slam::CObservationGPS, mrpt::slam::CObservationRange, mrpt::reactivenav::CLogFileRecord, mrpt::math::CSplineInterpolator1D, mrpt::utils::CPropertiesValuesList, mrpt::slam::CObservationBearingRange, mrpt::slam::CObservationGasSensors, mrpt::slam::CObservationWirelessPower, mrpt::opengl::C3DSScene, mrpt::slam::CObservationVisualLandmarks, mrpt::math::CMatrixB, mrpt::poses::CPointPDFGaussian, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::utils::CSimpleDatabaseTable, mrpt::slam::CActionRobotMovement3D, mrpt::slam::CObservationBeaconRanges, mrpt::slam::CObservationComment, mrpt::slam::CObservationRFID, mrpt::opengl::CCylinder, mrpt::opengl::CSetOfTriangles, mrpt::utils::TStereoCamera, mrpt::slam::CObservationReflectivity, mrpt::opengl::CGeneralizedCylinder, mrpt::math::CPolygon, mrpt::poses::CPoint2DPDFGaussian, mrpt::poses::TSimple3DPoint, mrpt::opengl::COpenGLStandardObject, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::utils::CTypeSelector, and mrpt::reactivenav::CLogFileRecord_VFF.
| virtual void mrpt::utils::CSerializable::writeToStream |
( |
mrpt::utils::CStream & |
out, |
|
|
int * |
getVersion |
|
) |
| const |
|
protectedpure virtualinherited |
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
-
- See Also
- CStream
Implemented in mrpt::reactivenav::CLogFileRecord_ND, mrpt::utils::CSimpleDatabase, mrpt::slam::CObservation3DRangeScan, mrpt::utils::CImage, mrpt::detectors::CDetectable3D, mrpt::hmtslam::THypothesisIDSet, mrpt::slam::COccupancyGridMap2D, mrpt::hmtslam::CHMTSLAM, mrpt::hmtslam::CLocalMetricHypothesis, mrpt::slam::CHeightGridMap2D, mrpt::slam::CObservationIMU, mrpt::poses::CPose3D, mrpt::slam::CMultiMetricMapPDF, mrpt::slam::CLandmarksMap, mrpt::vision::CFeature, mrpt::slam::CMultiMetricMap, mrpt::slam::CRawlog, mrpt::slam::CSensoryFrame, mrpt::slam::CObservation2DRangeScan, mrpt::poses::CPointPDFParticles, mrpt::poses::CPose3DInterpolator, mrpt::opengl::COpenGLViewport, mrpt::math::CMatrixD, mrpt::slam::CBeaconMap, mrpt::slam::CReflectivityGridMap2D, mrpt::opengl::CPointCloud, mrpt::math::CMatrix, mrpt::hmtslam::CLSLAMParticleData, mrpt::opengl::CPointCloudColoured, mrpt::detectors::CDetectable2D, mrpt::opengl::COpenGLScene, mrpt::utils::CMHPropertiesValuesList, mrpt::opengl::CPlanarLaserScan, mrpt::opengl::CFrustum, mrpt::poses::CPose3DRotVec, mrpt::slam::CWirelessPowerGridMap2D, mrpt::poses::CPose3DPDFParticles, mrpt::poses::CPose3DQuat, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::hmtslam::CHMHMapNode, mrpt::slam::CBeacon, mrpt::slam::CObservationStereoImages, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CText3D, mrpt::slam::CObservationStereoImagesFeatures, mrpt::poses::CPose3DQuatPDFGaussianInf, mrpt::slam::CLandmark, mrpt::poses::CPose3DQuatPDFGaussian, mrpt::hmtslam::CRobotPosesGraph, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CMesh, mrpt::poses::CPosePDFParticles, mrpt::poses::CPosePDFSOG, mrpt::slam::CGasConcentrationGridMap2D, mrpt::slam::CObservationImage, mrpt::opengl::CSetOfLines, mrpt::opengl::CText, mrpt::poses::CPose3DPDFGaussian, mrpt::poses::CPose3DPDFGaussianInf, mrpt::opengl::CPolyhedron, mrpt::poses::CPosePDFGaussianInf, mrpt::hmtslam::CHierarchicalMHMap, mrpt::opengl::CAngularObservationMesh, mrpt::slam::CColouredPointsMap, mrpt::slam::CIncrementalMapPartitioner, mrpt::slam::CRBPFParticleData, mrpt::poses::CPoint2D, mrpt::poses::CPointPDFSOG, mrpt::poses::CPose2D, mrpt::hmtslam::CHMHMapArc, mrpt::slam::CSimplePointsMap, mrpt::opengl::CDisk, mrpt::opengl::CSetOfObjects, mrpt::poses::CPose3DPDFSOG, mrpt::slam::CActionRobotMovement2D, mrpt::slam::CObservationBatteryState, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::poses::CPoint3D, mrpt::poses::CPosePDFGaussian, mrpt::utils::TCamera, mrpt::slam::CSimpleMap, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CSphere, mrpt::slam::CWeightedPointsMap, mrpt::opengl::CCamera, mrpt::poses::CPosePDFGrid, mrpt::utils::CStringList, mrpt::slam::CObservationOdometry, mrpt::opengl::CBox, mrpt::opengl::CSetOfTexturedTriangles, mrpt::utils::CMemoryChunk, mrpt::slam::CActionCollection, mrpt::slam::CObservationGPS, mrpt::slam::CObservationRange, mrpt::reactivenav::CLogFileRecord, mrpt::math::CSplineInterpolator1D, mrpt::utils::CPropertiesValuesList, mrpt::slam::CObservationBearingRange, mrpt::slam::CObservationGasSensors, mrpt::slam::CObservationWirelessPower, mrpt::opengl::C3DSScene, mrpt::slam::CObservationVisualLandmarks, mrpt::math::CMatrixB, mrpt::poses::CPointPDFGaussian, mrpt::poses::CPoses2DSequence, mrpt::poses::CPoses3DSequence, mrpt::utils::CSimpleDatabaseTable, mrpt::slam::CActionRobotMovement3D, mrpt::slam::CObservationBeaconRanges, mrpt::slam::CObservationComment, mrpt::slam::CObservationRFID, mrpt::opengl::CCylinder, mrpt::opengl::CSetOfTriangles, mrpt::utils::TStereoCamera, mrpt::slam::CObservationReflectivity, mrpt::opengl::CGeneralizedCylinder, mrpt::math::CPolygon, mrpt::poses::CPoint2DPDFGaussian, mrpt::poses::TSimple3DPoint, mrpt::opengl::COpenGLStandardObject, mrpt::opengl::CSimpleLine, mrpt::opengl::CTexturedPlane, mrpt::utils::CTypeSelector, and mrpt::reactivenav::CLogFileRecord_VFF.
