00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2008 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CObservationBearingRange_H 00029 #define CObservationBearingRange_H 00030 00031 #include <mrpt/utils/CSerializable.h> 00032 #include <mrpt/slam/CObservation.h> 00033 #include <mrpt/poses/CPose3D.h> 00034 #include <mrpt/slam/CLandmark.h> 00035 00036 namespace mrpt 00037 { 00038 namespace slam 00039 { 00040 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CObservationBearingRange , CObservation ) 00041 00042 00048 class MRPTDLLIMPEXP CObservationBearingRange : public CObservation 00049 { 00050 // This must be added to any CSerializable derived class: 00051 DEFINE_SERIALIZABLE( CObservationBearingRange ) 00052 00053 public: 00056 CObservationBearingRange( ); 00057 00060 float minSensorDistance, maxSensorDistance; 00061 00064 float fieldOfView; 00065 00068 CPose3D sensorLocationOnRobot; 00069 00072 struct MRPTDLLIMPEXP TMeasurement 00073 { 00076 float range; 00077 00081 float yaw,pitch; 00082 00085 int32_t landmarkID; 00086 }; 00087 00090 std::deque<TMeasurement> sensedData; 00091 00092 00103 float likelihoodWith( const CObservation *anotherObs, const CPosePDF *anotherObsPose = NULL ) const; 00104 00105 00108 void debugPrintOut(); 00109 00114 void getSensorPose( CPose3D &out_sensorPose ) const { out_sensorPose = sensorLocationOnRobot; } 00115 00116 00121 void setSensorPose( const CPose3D &newSensorPose ) { sensorLocationOnRobot = newSensorPose; } 00122 00123 00124 }; // End of class def. 00125 00126 00127 } // End of namespace 00128 } // End of namespace 00129 00130 #endif
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