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mrpt::slam::CObservationVisualLandmarks Class Reference


Detailed Description

Declares a class derived from "CObservation" that stores a Landmarks Map as seen from a stereo camera at a given instant of time.

See also:
CLandmarksMap, CObservation

Definition at line 47 of file CObservationVisualLandmarks.h.

#include <mrpt/slam/CObservationVisualLandmarks.h>

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

List of all members.

Public Member Functions

 CObservationVisualLandmarks ()
 Constructor.
float likelihoodWith (const CObservation *anotherObs, const CPosePDF *anotherObsPose=NULL) const
 Implements the virtual method in charge of finding the likelihood between this and another observation, probably only of the same derived class.
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.

Public Attributes

CPose3D refCameraPose
 The 3D pose of the reference camera relative to robot coordinates.
CLandmarksMap landmarks
 The landmarks, with coordinates origin in the camera reference system.

RTTI stuff

typedef
CObservationVisualLandmarksPtr 
SmartPtr
static mrpt::utils::CLASSINIT _init_CObservationVisualLandmarks
static mrpt::utils::TRuntimeClassId classCObservationVisualLandmarks
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::CObjectduplicate () const
 Returns a copy of the object, indepently of its class.
static mrpt::utils::CObjectCreateObject ()
static
CObservationVisualLandmarksPtr 
Create ()

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 50 of file CObservationVisualLandmarks.h.


Constructor & Destructor Documentation

mrpt::slam::CObservationVisualLandmarks::CObservationVisualLandmarks (  )

Constructor.


Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationVisualLandmarks::_GetBaseClass (  ) [static, protected]

Reimplemented from mrpt::slam::CObservation.

static CObservationVisualLandmarksPtr mrpt::slam::CObservationVisualLandmarks::Create (  ) [static]
static mrpt::utils::CObject* mrpt::slam::CObservationVisualLandmarks::CreateObject (  ) [static]
virtual mrpt::utils::CObject* mrpt::slam::CObservationVisualLandmarks::duplicate (  ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationVisualLandmarks::GetRuntimeClass (  ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CObservation.

void mrpt::slam::CObservationVisualLandmarks::getSensorPose ( CPose3D out_sensorPose ) const [inline, 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.

See also:
setSensorPose

Implements mrpt::slam::CObservation.

Definition at line 81 of file CObservationVisualLandmarks.h.

float mrpt::slam::CObservationVisualLandmarks::likelihoodWith ( const CObservation anotherObs,
const CPosePDF anotherObsPose = NULL 
) const

Implements the virtual method in charge of finding the likelihood between this and another observation, probably only of the same derived class.

The operator may be asymmetric.

Parameters:
anotherObsThe other observation to compute likelihood with.
anotherObsPoseIf known, the belief about the robot pose when the other observation was taken can be supplied here, or NULL if it is unknown.
Returns:
Returns a likelihood measurement, in the range [0,1].
Exceptions:
std::exceptionOn any error, as another observation being of an invalid class.
void mrpt::slam::CObservationVisualLandmarks::setSensorPose ( const CPose3D newSensorPose ) [inline, 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.

See also:
getSensorPose

Implements mrpt::slam::CObservation.

Definition at line 88 of file CObservationVisualLandmarks.h.


Member Data Documentation

Definition at line 50 of file CObservationVisualLandmarks.h.

Definition at line 50 of file CObservationVisualLandmarks.h.

Definition at line 50 of file CObservationVisualLandmarks.h.

The landmarks, with coordinates origin in the camera reference system.

Definition at line 63 of file CObservationVisualLandmarks.h.

The 3D pose of the reference camera relative to robot coordinates.

Definition at line 59 of file CObservationVisualLandmarks.h.




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