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mrpt::slam::CObservation Class Reference


Detailed Description

Declares a class that represents any robot's observation.

This is a base class for many types of sensors observations. Users can add a new observation type creating a new class deriving from this one.
IMPORTANT: Observations doesn't include any information about the robot pose beliefs, just the raw observation and, where aplicable, information about sensor position or orientation respect to robotic coordinates origin.

See also:
CSensoryFrame, CMetricMap

Definition at line 78 of file CObservation.h.

#include <mrpt/slam/CObservation.h>

Inheritance diagram for mrpt::slam::CObservation:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 CObservation ()
 Constructor: It sets the initial timestamp to current time.
template<class METRICMAP >
bool insertObservationInto (METRICMAP *theMap, const CPose3D *robotPose=NULL) const
 This method is equivalent to:
virtual void getSensorPose (CPose3D &out_sensorPose) const =0
 A general method to retrieve the sensor pose on the robot.
void getSensorPose (mrpt::math::TPose3D &out_sensorPose) const
 A general method to retrieve the sensor pose on the robot.
virtual void setSensorPose (const CPose3D &newSensorPose)=0
 A general method to change 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

Data common to any observation
mrpt::system::TTimeStamp timestamp
 The associated time-stamp.
std::string sensorLabel
 An arbitrary label that can be used to identify the sensor.

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.

RTTI stuff

static const
mrpt::utils::TRuntimeClassId 
classCObservation
class mrpt::utils::CStream
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime.

Constructor & Destructor Documentation

mrpt::slam::CObservation::CObservation (  )

Constructor: It sets the initial timestamp to current time.


Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservation::_GetBaseClass (  ) [static, protected]
virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservation::GetRuntimeClass (  ) const [virtual]
virtual void mrpt::slam::CObservation::getSensorPose ( CPose3D out_sensorPose ) const [pure virtual]
void mrpt::slam::CObservation::getSensorPose ( mrpt::math::TPose3D out_sensorPose ) const

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.

See also:
setSensorPose
template<class METRICMAP >
bool mrpt::slam::CObservation::insertObservationInto ( METRICMAP *  theMap,
const CPose3D robotPose = NULL 
) const [inline]

This method is equivalent to:

                map->insertObservation(this, robotPose)
Parameters:
theMapThe map where this observation is to be inserted: the map will be updated.
robotPoseThe pose of the robot base for this observation, relative to the target metric map. Set to NULL (default) to use (0,0,0deg)
Returns:
Returns true if the map has been updated, or false if this observations has nothing to do with a metric map (for example, a sound observation).
See also:
CMetricMap, CMetricMap::insertObservation

Definition at line 119 of file CObservation.h.

virtual void mrpt::slam::CObservation::load (  ) const [inline, virtual]

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.

See also:
unload

Reimplemented in mrpt::slam::CObservation3DRangeScan.

Definition at line 156 of file CObservation.h.

virtual void mrpt::slam::CObservation::setSensorPose ( const CPose3D newSensorPose ) [pure virtual]
void mrpt::slam::CObservation::setSensorPose ( const mrpt::math::TPose3D newSensorPose )

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.

See also:
getSensorPose
void mrpt::slam::CObservation::swap ( CObservation o ) [protected]

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.

virtual void mrpt::slam::CObservation::unload (  ) [inline, virtual]

Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).

See also:
load

Reimplemented in mrpt::slam::CObservation3DRangeScan.

Definition at line 160 of file CObservation.h.


Friends And Related Function Documentation

friend class mrpt::utils::CStream [friend]

Reimplemented from mrpt::utils::CSerializable.

Definition at line 81 of file CObservation.h.


Member Data Documentation

Definition at line 81 of file CObservation.h.

An arbitrary label that can be used to identify the sensor.

Definition at line 97 of file CObservation.h.

The associated time-stamp.

Definition at line 93 of file CObservation.h.




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