9#ifndef CObservationReflectivity_H
10#define CObservationReflectivity_H
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
Declares a class that represents any robot's observation.
Declares a class derived from "CObservation" that encapsules a single short-range reflectivity measur...
CObservationReflectivity()
Default constructor.
void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
virtual ~CObservationReflectivity()
mrpt::poses::CPose3D sensorPose
The pose of this sensor in robot's local coordinates.
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
A general method to change the sensor pose on the robot.
float sensorStdNoise
1-sigma of the sensor Gaussian noise (in the same normalized units than reflectivityLevel)
float reflectivityLevel
The read reflectivity level, in the range [0,1] (0=black, 1=white).
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
A general method to retrieve the sensor pose on the robot.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.