Declares a class derived from "CObservation" that represents one (or more) range measurements to labeled beacons.
Definition at line 46 of file CObservationBeaconRanges.h.
#include <mrpt/slam/CObservationBeaconRanges.h>
Classes | |
struct | TMeasurement |
Each one of the measurements: More... | |
Public Member Functions | |
CObservationBeaconRanges () | |
Default constructor. | |
void | debugPrintOut () |
Prints out the contents of the object. | |
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. | |
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. | |
Public Attributes | |
float | minSensorDistance |
Information about the sensor: | |
float | maxSensorDistance |
float | stdError |
The "sigma" of the sensor, assuming a zero-mean Gaussian noise model. | |
std::deque< TMeasurement > | sensedData |
The list of observed ranges: | |
CPose2D | auxEstimatePose |
The (X,Y,PHI) pose estimated by the UWB software, for comparison purposes (Added in streamming version 1) | |
RTTI stuff | |
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 |
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 CObservationBeaconRangesPtr | Create () |
A typedef for the associated smart pointer
Definition at line 49 of file CObservationBeaconRanges.h.
mrpt::slam::CObservationBeaconRanges::CObservationBeaconRanges | ( | ) |
Default constructor.
static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationBeaconRanges::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::slam::CObservation.
static CObservationBeaconRangesPtr mrpt::slam::CObservationBeaconRanges::Create | ( | ) | [static] |
static mrpt::utils::CObject* mrpt::slam::CObservationBeaconRanges::CreateObject | ( | ) | [static] |
void mrpt::slam::CObservationBeaconRanges::debugPrintOut | ( | ) |
Prints out the contents of the object.
virtual mrpt::utils::CObject* mrpt::slam::CObservationBeaconRanges::duplicate | ( | ) | const [virtual] |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationBeaconRanges::GetRuntimeClass | ( | ) | const [virtual] |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::slam::CObservation.
float mrpt::slam::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.
void mrpt::slam::CObservationBeaconRanges::getSensorPose | ( | CPose3D & | out_sensorPose | ) | const [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::slam::CObservation.
void mrpt::slam::CObservationBeaconRanges::setSensorPose | ( | const CPose3D & | newSensorPose | ) | [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::slam::CObservation.
mrpt::utils::CLASSINIT mrpt::slam::CObservationBeaconRanges::_init_CObservationBeaconRanges [static, protected] |
Definition at line 49 of file CObservationBeaconRanges.h.
The (X,Y,PHI) pose estimated by the UWB software, for comparison purposes (Added in streamming version 1)
Definition at line 90 of file CObservationBeaconRanges.h.
mrpt::utils::TRuntimeClassId mrpt::slam::CObservationBeaconRanges::classCObservationBeaconRanges [static] |
Definition at line 49 of file CObservationBeaconRanges.h.
Definition at line 49 of file CObservationBeaconRanges.h.
Definition at line 58 of file CObservationBeaconRanges.h.
Information about the sensor:
Definition at line 58 of file CObservationBeaconRanges.h.
The list of observed ranges:
Definition at line 86 of file CObservationBeaconRanges.h.
The "sigma" of the sensor, assuming a zero-mean Gaussian noise model.
Definition at line 62 of file CObservationBeaconRanges.h.
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