Declares a class derived from "CObservation" that represents one (or more) range measurements to labeled beacons.
Definition at line 28 of file obs/CObservationBeaconRanges.h.
#include <mrpt/obs/CObservationBeaconRanges.h>
Classes | |
struct | TMeasurement |
Each one of the measurements: More... | |
Public Member Functions | |
CObservationBeaconRanges () | |
Default constructor. More... | |
void | debugPrintOut () |
Prints out the contents of the object. More... | |
void | getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE |
A general method to retrieve the sensor pose on the robot. More... | |
void | setSensorPose (const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE |
A general method to change the sensor pose on the robot. More... | |
void | getDescriptionAsText (std::ostream &o) const MRPT_OVERRIDE |
Build a detailed, multi-line textual description of the observation contents and dump it to the output stream. More... | |
float | getSensedRangeByBeaconID (int32_t beaconID) |
Easy look-up into the vector sensedData, returns the range for a given beacon, or 0 if the beacon is not observed. More... | |
template<class METRICMAP > | |
bool | insertObservationInto (METRICMAP *theMap, const mrpt::poses::CPose3D *robotPose=NULL) const |
This method is equivalent to: More... | |
void | getSensorPose (mrpt::math::TPose3D &out_sensorPose) const |
A general method to retrieve the sensor pose on the robot. More... | |
void | setSensorPose (const mrpt::math::TPose3D &newSensorPose) |
A general method to change the sensor pose on the robot. More... | |
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. More... | |
virtual void | unload () |
Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect). More... | |
Public Attributes | |
float | minSensorDistance |
Information about the sensor: More... | |
float | maxSensorDistance |
float | stdError |
The "sigma" of the sensor, assuming a zero-mean Gaussian noise model. More... | |
std::deque< TMeasurement > | sensedData |
The list of observed ranges: More... | |
mrpt::poses::CPose2D | auxEstimatePose |
The (X,Y,PHI) pose estimated by the UWB software, for comparison purposes (Added in streamming version 1) More... | |
Static Public Attributes | |
RTTI stuff <br> | |
static const mrpt::utils::TRuntimeClassId | classCObservation |
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. More... | |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE |
void | readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE |
RTTI stuff <br> | |
typedef CObservationBeaconRangesPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CObservationBeaconRanges |
static mrpt::utils::TRuntimeClassId | classCObservationBeaconRanges |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const MRPT_OVERRIDE |
virtual mrpt::utils::CObject * | duplicate () const MRPT_OVERRIDE |
static mrpt::utils::CObject * | CreateObject () |
static CObservationBeaconRangesPtr | Create () |
Data common to any observation | |
mrpt::system::TTimeStamp | timestamp |
The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading. More... | |
std::string | sensorLabel |
An arbitrary label that can be used to identify the sensor. More... | |
mrpt::system::TTimeStamp | getTimeStamp () const |
Returns CObservation::timestamp for all kind of observations. More... | |
virtual mrpt::system::TTimeStamp | getOriginalReceivedTimeStamp () const |
By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp. More... | |
A typedef for the associated smart pointer
Definition at line 31 of file obs/CObservationBeaconRanges.h.
mrpt::obs::CObservationBeaconRanges::CObservationBeaconRanges | ( | ) |
Default constructor.
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void mrpt::obs::CObservationBeaconRanges::debugPrintOut | ( | ) |
Prints out the contents of the object.
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Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.
Reimplemented from mrpt::obs::CObservation.
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inlinevirtualinherited |
By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp.
Reimplemented in mrpt::obs::CObservationGPS, and mrpt::obs::CObservationVelodyneScan.
Definition at line 65 of file obs/CObservation.h.
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Reimplemented from mrpt::obs::CObservation.
float mrpt::obs::CObservationBeaconRanges::getSensedRangeByBeaconID | ( | int32_t | beaconID | ) |
Easy look-up into the vector sensedData, returns the range for a given beacon, or 0 if the beacon is not observed.
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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.
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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.
Implements mrpt::obs::CObservation.
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inlineinherited |
Returns CObservation::timestamp for all kind of observations.
Definition at line 63 of file obs/CObservation.h.
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inlineinherited |
This method is equivalent to:
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) |
Definition at line 83 of file obs/CObservation.h.
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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.
Reimplemented in mrpt::obs::CObservation3DRangeScan.
Definition at line 125 of file obs/CObservation.h.
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protected |
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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.
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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.
Implements mrpt::obs::CObservation.
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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.
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inlinevirtualinherited |
Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).
Reimplemented in mrpt::obs::CObservation3DRangeScan.
Definition at line 129 of file obs/CObservation.h.
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staticprotected |
Definition at line 31 of file obs/CObservationBeaconRanges.h.
mrpt::poses::CPose2D mrpt::obs::CObservationBeaconRanges::auxEstimatePose |
The (X,Y,PHI) pose estimated by the UWB software, for comparison purposes (Added in streamming version 1)
Definition at line 71 of file obs/CObservationBeaconRanges.h.
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staticinherited |
Definition at line 50 of file obs/CObservation.h.
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Definition at line 31 of file obs/CObservationBeaconRanges.h.
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Definition at line 31 of file obs/CObservationBeaconRanges.h.
float mrpt::obs::CObservationBeaconRanges::maxSensorDistance |
Definition at line 40 of file obs/CObservationBeaconRanges.h.
float mrpt::obs::CObservationBeaconRanges::minSensorDistance |
Information about the sensor:
Definition at line 40 of file obs/CObservationBeaconRanges.h.
std::deque<TMeasurement> mrpt::obs::CObservationBeaconRanges::sensedData |
The list of observed ranges:
Definition at line 68 of file obs/CObservationBeaconRanges.h.
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inherited |
An arbitrary label that can be used to identify the sensor.
Definition at line 60 of file obs/CObservation.h.
float mrpt::obs::CObservationBeaconRanges::stdError |
The "sigma" of the sensor, assuming a zero-mean Gaussian noise model.
Definition at line 44 of file obs/CObservationBeaconRanges.h.
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inherited |
The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading.
Definition at line 59 of file obs/CObservation.h.
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