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CObservationBearingRange.h

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00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
00005    |                                                                           |
00006    |   Copyright (C) 2005-2011  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 
00035 namespace mrpt
00036 {
00037 namespace slam
00038 {
00039         DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationBearingRange , CObservation, OBS_IMPEXP)
00040 
00041         /** This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs.
00042          *  This class can manage sensors that detect landmarks in a 2D plane (e.g. a laser scanner) or in the 3D space (e.g. a camera). There are
00043          *  two direction angles: yaw (azimuth) and pitch (negative elevation). For 2D sensors, the pitch must be always set to 0.
00044          * See CObservationBearingRange::validCovariances for the instructions to fill the uncertainty covariances.
00045          * \sa CObservation
00046          */
00047         class OBS_IMPEXP CObservationBearingRange : public CObservation
00048         {
00049                 // This must be added to any CSerializable derived class:
00050                 DEFINE_SERIALIZABLE( CObservationBearingRange )
00051 
00052          public:
00053                 /** Default constructor.
00054                  */
00055                 CObservationBearingRange( );
00056 
00057                 float minSensorDistance, maxSensorDistance;  //! Information about the sensor: Ranges, in meters (0: there is no limits)
00058                 float fieldOfView_yaw;          //!< Information about the sensor: The "field-of-view" of the sensor, in radians (for yaw ).
00059                 float fieldOfView_pitch;        //!< Information about the sensor: The "field-of-view" of the sensor, in radians (for pitch ).
00060 
00061                 /** The position of the sensor on the robot.
00062                   */
00063                 CPose3D         sensorLocationOnRobot;
00064 
00065                 /** Each one of the measurements:
00066                         */
00067                 struct OBS_IMPEXP TMeasurement
00068                 {
00069                         /** The sensed landmark distance, in meters.
00070                           */
00071                         float   range;
00072 
00073                         /** The sensed landmark direction, in radians, measured as the yaw (azimuth) and pitch (negative elevation).
00074                           * See mrpt::poses::CPose3D for a definition of the 3D angles.
00075                           */
00076                         float   yaw,pitch;
00077 
00078                         /** The ID of the sensed beacon, or INVALID_LANDMARK_ID (-1) if the sensor does not identify the landmark.
00079                           */
00080                         int32_t landmarkID;
00081 
00082                         /** The covariance matrix of the landmark. 
00083                           */
00084                         CMatrixDouble33 covariance;
00085                 };
00086 
00087                 typedef std::vector<TMeasurement> TMeasurementList;
00088 
00089                 /** The list of observed ranges:  */
00090                 TMeasurementList sensedData;
00091 
00092                 /** True: The individual 3x3 covariance matrices must be taken into account, false (default): All the measurements have identical, diagonal 3x3 covariance matrices given by the values sensor_std_range,sensor_std_yaw,sensor_std_pitch.
00093                   */
00094                 bool validCovariances;
00095 
00096                 /** Taken into account only if validCovariances=false: the standard deviation of the sensor noise model for range,yaw and pitch (in meters and radians).
00097                   *  If validCovariances=true, these 3 values are ignored and the individual 3x3 covariance matrices contain the actual uncertainties for each of the detected landmarks.
00098                   */
00099                 float sensor_std_range,sensor_std_yaw,sensor_std_pitch;
00100 
00101                  /** Prints out the contents of the object.
00102                    */
00103                  void  debugPrintOut();
00104 
00105                 /** A general method to retrieve the sensor pose on the robot.
00106                   *  Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.
00107                   * \sa setSensorPose
00108                   */
00109                 void getSensorPose( CPose3D &out_sensorPose ) const { out_sensorPose = sensorLocationOnRobot; }
00110 
00111 
00112                 /** A general method to change the sensor pose on the robot.
00113                   *  Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.
00114                   * \sa getSensorPose
00115                   */
00116                 void setSensorPose( const CPose3D &newSensorPose ) { sensorLocationOnRobot = newSensorPose; }
00117 
00118 
00119         }; // End of class def.
00120 
00121 
00122         } // End of namespace
00123 } // End of namespace
00124 
00125 #endif



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