This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs.
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 two direction angles: yaw (azimuth) and pitch (negative elevation). For 2D sensors, the pitch must be always set to 0. See CObservationBearingRange::validCovariances for the instructions to fill the uncertainty covariances.
Definition at line 29 of file obs/CObservationBearingRange.h.
#include <mrpt/obs/CObservationBearingRange.h>
Classes | |
struct | TMeasurement |
Each one of the measurements: More... | |
Public Types | |
typedef std::vector< TMeasurement > | TMeasurementList |
Public Member Functions | |
CObservationBearingRange () | |
Default constructor. | |
void | debugPrintOut () |
Prints out the contents of the object. | |
void | getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE |
A general method to retrieve the sensor pose on the robot. | |
void | setSensorPose (const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE |
A general method to change the sensor pose on the robot. | |
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. | |
template<class METRICMAP > | |
bool | insertObservationInto (METRICMAP *theMap, const mrpt::poses::CPose3D *robotPose=NULL) const |
This method is equivalent to: | |
void | getSensorPose (mrpt::math::TPose3D &out_sensorPose) const |
A general method to retrieve the sensor pose on the robot. | |
void | setSensorPose (const mrpt::math::TPose3D &newSensorPose) |
A general method to change the sensor pose on the robot. | |
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. | |
virtual void | unload () |
Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect). | |
Public Attributes | |
float | minSensorDistance |
float | maxSensorDistance |
float | fieldOfView_yaw |
Information about the sensor: Ranges, in meters (0: there is no limits) | |
float | fieldOfView_pitch |
Information about the sensor: The "field-of-view" of the sensor, in radians (for pitch ). | |
mrpt::poses::CPose3D | sensorLocationOnRobot |
The position of the sensor on the robot. | |
TMeasurementList | sensedData |
The list of observed ranges: | |
bool | validCovariances |
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. | |
float | sensor_std_range |
Taken into account only if validCovariances=false: the standard deviation of the sensor noise model for range,yaw and pitch (in meters and radians). | |
float | sensor_std_yaw |
float | sensor_std_pitch |
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. | |
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 CObservationBearingRangePtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CObservationBearingRange |
static mrpt::utils::TRuntimeClassId | classCObservationBearingRange |
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 CObservationBearingRangePtr | 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. | |
std::string | sensorLabel |
An arbitrary label that can be used to identify the sensor. | |
mrpt::system::TTimeStamp | getTimeStamp () const |
Returns CObservation::timestamp for all kind of observations. | |
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. | |
A typedef for the associated smart pointer
Definition at line 32 of file obs/CObservationBearingRange.h.
typedef std::vector<TMeasurement> mrpt::obs::CObservationBearingRange::TMeasurementList |
Definition at line 67 of file obs/CObservationBearingRange.h.
mrpt::obs::CObservationBearingRange::CObservationBearingRange | ( | ) |
Default constructor.
|
staticprotected |
|
static |
|
static |
void mrpt::obs::CObservationBearingRange::debugPrintOut | ( | ) |
Prints out the contents of the object.
|
virtual |
|
virtual |
Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.
Reimplemented from mrpt::obs::CObservation.
|
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.
|
virtual |
Reimplemented from mrpt::obs::CObservation.
|
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.
|
inlinevirtual |
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.
Definition at line 86 of file obs/CObservationBearingRange.h.
|
inlineinherited |
Returns CObservation::timestamp for all kind of observations.
Definition at line 63 of file obs/CObservation.h.
|
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.
|
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.
|
protected |
|
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.
|
inlinevirtual |
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.
Definition at line 87 of file obs/CObservationBearingRange.h.
|
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.
|
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.
|
protected |
|
staticprotected |
Definition at line 32 of file obs/CObservationBearingRange.h.
|
staticinherited |
Definition at line 50 of file obs/CObservation.h.
|
static |
Definition at line 32 of file obs/CObservationBearingRange.h.
|
static |
Definition at line 32 of file obs/CObservationBearingRange.h.
float mrpt::obs::CObservationBearingRange::fieldOfView_pitch |
Information about the sensor: The "field-of-view" of the sensor, in radians (for pitch ).
Definition at line 41 of file obs/CObservationBearingRange.h.
float mrpt::obs::CObservationBearingRange::fieldOfView_yaw |
Information about the sensor: Ranges, in meters (0: there is no limits)
Information about the sensor: The "field-of-view" of the sensor, in radians (for yaw ).
Definition at line 40 of file obs/CObservationBearingRange.h.
float mrpt::obs::CObservationBearingRange::maxSensorDistance |
Definition at line 39 of file obs/CObservationBearingRange.h.
float mrpt::obs::CObservationBearingRange::minSensorDistance |
Definition at line 39 of file obs/CObservationBearingRange.h.
TMeasurementList mrpt::obs::CObservationBearingRange::sensedData |
The list of observed ranges:
Definition at line 70 of file obs/CObservationBearingRange.h.
float mrpt::obs::CObservationBearingRange::sensor_std_pitch |
Definition at line 79 of file obs/CObservationBearingRange.h.
float mrpt::obs::CObservationBearingRange::sensor_std_range |
Taken into account only if validCovariances=false: the standard deviation of the sensor noise model for range,yaw and pitch (in meters and radians).
If validCovariances=true, these 3 values are ignored and the individual 3x3 covariance matrices contain the actual uncertainties for each of the detected landmarks.
Definition at line 79 of file obs/CObservationBearingRange.h.
float mrpt::obs::CObservationBearingRange::sensor_std_yaw |
Definition at line 79 of file obs/CObservationBearingRange.h.
|
inherited |
An arbitrary label that can be used to identify the sensor.
Definition at line 60 of file obs/CObservation.h.
mrpt::poses::CPose3D mrpt::obs::CObservationBearingRange::sensorLocationOnRobot |
The position of the sensor on the robot.
Definition at line 45 of file obs/CObservationBearingRange.h.
|
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.
bool mrpt::obs::CObservationBearingRange::validCovariances |
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.
Definition at line 74 of file obs/CObservationBearingRange.h.
Page generated by Doxygen 1.9.6 for MRPT 1.4.0 SVN: at Fri Jan 20 00:45:34 UTC 2023 |