Detailed Description

This class stores measurements from an Inertial Measurement Unit (IMU), and/or its attitude estimation (integration of raw measurements).

The order of the 15 raw values in each entry of mrpt::slam::CObservationIMU::rawMeasurements is (you can use the TIMUDataIndex "enum" symbolic names):

0	IMU_X_ACC	x-axis acceleration (m/sec²)
1	IMU_Y_ACC	y-axis acceleration (m/sec²)
2	IMU_Z_ACC	z-axis acceleration (m/sec²)
3	IMU_YAW_VEL	yaw angular velocity (rad/sec)
4	IMU_PITCH_VEL	pitch angular velocity (rad/sec)
5	IMU_ROLL_VEL	roll angular velocity (rad/sec)
6	IMU_X_VEL	x-axis velocity (m/sec)
7	IMU_Y_VEL	y-axis velocity (m/sec)
8	IMU_Z_VEL	z-axis velocity (m/sec)
9	IMU_YAW	yaw absolute value (rad)
10	IMU_PITCH	pitch absolute value (rad)
11	IMU_ROLL	roll absolute value (rad)
12	IMU_X	x absolute value (meters)
13	IMU_Y	y absolute value (meters)
14	IMU_Z	z absolute value (meters)

The first 6 values are directly measured by accelerometers & gyroscopes. The rest, if present, are estimates from the IMU unit.

See Also: CObservation

Definition at line 95 of file CObservationIMU.h.

#include <mrpt/slam/CObservationIMU.h>

Inheritance diagram for mrpt::slam::CObservationIMU:

[legend]

Public Member Functions
	CObservationIMU ()
	Constructor.

virtual	~CObservationIMU ()
	Destructor.

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
CPose3D	sensorPose
	The pose of the sensor on the robot.

vector_bool	dataIsPresent
	Each of the 15 entries of this vector is true if the corresponding data index contains valid data (the IMU unit supplies that kind of data).

std::vector< double >	rawMeasurements
	The accelerometer and/or gyroscope measurements taken by the IMU at the given timestamp.

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	classCObservation

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.

CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream.

void	readFromStream (mrpt::utils::CStream &in, int version)
	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
typedef CObservationIMUPtr	SmartPtr

static mrpt::utils::CLASSINIT	_init_CObservationIMU

static mrpt::utils::TRuntimeClassId	classCObservationIMU

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 CObservationIMUPtr	Create ()

Member Typedef Documentation

typedef CObservationIMUPtr mrpt::slam::CObservationIMU::SmartPtr

A typedef for the associated smart pointer

Definition at line 98 of file CObservationIMU.h.

Constructor & Destructor Documentation

mrpt::slam::CObservationIMU::CObservationIMU ( )

inline

Constructor.

Definition at line 103 of file CObservationIMU.h.

virtual mrpt::slam::CObservationIMU::~CObservationIMU ( )

inlinevirtual

Destructor.

Definition at line 111 of file CObservationIMU.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationIMU::_GetBaseClass ( )

staticprotected

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 154 of file CObject.h.

static CObservationIMUPtr mrpt::slam::CObservationIMU::Create ( )

static

static mrpt::utils::CObject* mrpt::slam::CObservationIMU::CreateObject ( )

static

virtual mrpt::utils::CObject* mrpt::slam::CObservationIMU::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

inlineinherited

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.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationIMU::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CObservation.

void mrpt::slam::CObservationIMU::getSensorPose ( CPose3D & out_sensorPose ) const

inlinevirtual

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.

Definition at line 133 of file CObservationIMU.h.

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

inlineinherited

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

inlinevirtualinherited

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.

void mrpt::slam::CObservationIMU::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

protectedvirtual

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

Implements mrpt::utils::CSerializable.

void mrpt::slam::CObservationIMU::setSensorPose ( const CPose3D & newSensorPose )

inlinevirtual

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.

Definition at line 140 of file CObservationIMU.h.

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 )

protectedinherited

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 ( )

inlinevirtualinherited

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.

void mrpt::slam::CObservationIMU::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedvirtual

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

See Also: CStream

Implements mrpt::utils::CSerializable.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::slam::CObservationIMU::_init_CObservationIMU

staticprotected

Definition at line 98 of file CObservationIMU.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 139 of file CObject.h.

const mrpt::utils::TRuntimeClassId mrpt::slam::CObservation::classCObservation

staticinherited

Definition at line 84 of file CObservation.h.

mrpt::utils::TRuntimeClassId mrpt::slam::CObservationIMU::classCObservationIMU

static

Definition at line 98 of file CObservationIMU.h.

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 56 of file CSerializable.h.

const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationIMU::classinfo

static

Definition at line 98 of file CObservationIMU.h.

vector_bool mrpt::slam::CObservationIMU::dataIsPresent

Each of the 15 entries of this vector is true if the corresponding data index contains valid data (the IMU unit supplies that kind of data).

See the top of this page for the meaning of the indices.

Definition at line 121 of file CObservationIMU.h.

std::vector<double> mrpt::slam::CObservationIMU::rawMeasurements

The accelerometer and/or gyroscope measurements taken by the IMU at the given timestamp.

See Also: dataIsPresent, CObservation::timestamp

Definition at line 126 of file CObservationIMU.h.

std::string mrpt::slam::CObservation::sensorLabel

inherited

An arbitrary label that can be used to identify the sensor.

Definition at line 100 of file CObservation.h.

CPose3D mrpt::slam::CObservationIMU::sensorPose

The pose of the sensor on the robot.

Definition at line 116 of file CObservationIMU.h.

mrpt::system::TTimeStamp mrpt::slam::CObservation::timestamp

inherited

The associated time-stamp.

Definition at line 96 of file CObservation.h.

Detailed Description

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

RTTI stuff

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation