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.
Definition at line 78 of file CObservation.h.
#include <mrpt/slam/CObservation.h>
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. |
mrpt::slam::CObservation::CObservation | ( | ) |
Constructor: It sets the initial timestamp to current time.
static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservation::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::utils::CSerializable.
Reimplemented in mrpt::slam::CObservation2DRangeScan, mrpt::slam::CObservation3DRangeScan, mrpt::slam::CObservationBatteryState, mrpt::slam::CObservationBeaconRanges, mrpt::slam::CObservationBearingRange, mrpt::slam::CObservationComment, mrpt::slam::CObservationGasSensors, mrpt::slam::CObservationGPS, mrpt::slam::CObservationImage, mrpt::slam::CObservationIMU, mrpt::slam::CObservationOdometry, mrpt::slam::CObservationRange, mrpt::slam::CObservationStereoImages, mrpt::slam::CObservationStereoImagesFeatures, and mrpt::slam::CObservationVisualLandmarks.
virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservation::GetRuntimeClass | ( | ) | const [virtual] |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
Reimplemented in mrpt::slam::CObservation2DRangeScan, mrpt::slam::CObservation3DRangeScan, mrpt::slam::CObservationBatteryState, mrpt::slam::CObservationBeaconRanges, mrpt::slam::CObservationBearingRange, mrpt::slam::CObservationComment, mrpt::slam::CObservationGasSensors, mrpt::slam::CObservationGPS, mrpt::slam::CObservationImage, mrpt::slam::CObservationIMU, mrpt::slam::CObservationOdometry, mrpt::slam::CObservationRange, mrpt::slam::CObservationStereoImages, mrpt::slam::CObservationStereoImagesFeatures, and mrpt::slam::CObservationVisualLandmarks.
virtual void mrpt::slam::CObservation::getSensorPose | ( | CPose3D & | out_sensorPose ) | const [pure 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.
Implemented in mrpt::slam::CObservation2DRangeScan, mrpt::slam::CObservation3DRangeScan, mrpt::slam::CObservationBatteryState, mrpt::slam::CObservationBeaconRanges, mrpt::slam::CObservationBearingRange, mrpt::slam::CObservationComment, mrpt::slam::CObservationGasSensors, mrpt::slam::CObservationGPS, mrpt::slam::CObservationImage, mrpt::slam::CObservationIMU, mrpt::slam::CObservationOdometry, mrpt::slam::CObservationRange, mrpt::slam::CObservationStereoImages, mrpt::slam::CObservationStereoImagesFeatures, and mrpt::slam::CObservationVisualLandmarks.
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.
bool mrpt::slam::CObservation::insertObservationInto | ( | METRICMAP * | theMap, |
const CPose3D * | robotPose = NULL |
||
) | const [inline] |
This method is equivalent to:
map->insertObservation(this, robotPose)
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 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.
Reimplemented in mrpt::slam::CObservation3DRangeScan.
Definition at line 156 of file CObservation.h.
virtual void mrpt::slam::CObservation::setSensorPose | ( | const CPose3D & | newSensorPose ) | [pure 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.
Implemented in mrpt::slam::CObservation2DRangeScan, mrpt::slam::CObservation3DRangeScan, mrpt::slam::CObservationBatteryState, mrpt::slam::CObservationBeaconRanges, mrpt::slam::CObservationBearingRange, mrpt::slam::CObservationComment, mrpt::slam::CObservationGasSensors, mrpt::slam::CObservationGPS, mrpt::slam::CObservationImage, mrpt::slam::CObservationIMU, mrpt::slam::CObservationOdometry, mrpt::slam::CObservationRange, mrpt::slam::CObservationStereoImages, mrpt::slam::CObservationStereoImagesFeatures, and mrpt::slam::CObservationVisualLandmarks.
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.
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).
Reimplemented in mrpt::slam::CObservation3DRangeScan.
Definition at line 160 of file CObservation.h.
friend class mrpt::utils::CStream [friend] |
Reimplemented from mrpt::utils::CSerializable.
Definition at line 81 of file CObservation.h.
Definition at line 81 of file CObservation.h.
std::string mrpt::slam::CObservation::sensorLabel |
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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