00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CObservationBeaconRanges_H 00029 #define CObservationBeaconRanges_H 00030 00031 #include <mrpt/utils/CSerializable.h> 00032 #include <mrpt/slam/CObservation.h> 00033 #include <mrpt/poses/CPoint3D.h> 00034 #include <mrpt/poses/CPose2D.h> 00035 #include <mrpt/poses/CPose3D.h> 00036 00037 namespace mrpt 00038 { 00039 namespace slam 00040 { 00041 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CObservationBeaconRanges, CObservation ) 00042 00043 00046 class MRPTDLLIMPEXP CObservationBeaconRanges : public CObservation 00047 { 00048 // This must be added to any CSerializable derived class: 00049 DEFINE_SERIALIZABLE( CObservationBeaconRanges ) 00050 00051 public: 00054 CObservationBeaconRanges( ); 00055 00058 float minSensorDistance, maxSensorDistance; 00059 00062 float stdError; 00063 00066 struct MRPTDLLIMPEXP TMeasurement 00067 { 00068 TMeasurement() : sensorLocationOnRobot(), sensedDistance(0),beaconID(INVALID_BEACON_ID) 00069 {} 00070 00073 CPoint3D sensorLocationOnRobot; 00074 00077 float sensedDistance; 00078 00081 int32_t beaconID; 00082 }; 00083 00086 std::deque<TMeasurement> sensedData; 00087 00090 CPose2D auxEstimatePose; 00091 00102 float likelihoodWith( const CObservation *anotherObs, const CPosePDF *anotherObsPose = NULL ) const; 00103 00104 00107 void debugPrintOut(); 00108 00113 void getSensorPose( CPose3D &out_sensorPose ) const; 00114 00115 00120 void setSensorPose( const CPose3D &newSensorPose ); 00121 00124 float getSensedRangeByBeaconID(int32_t beaconID); 00125 00126 }; // End of class def. 00127 00128 00129 } // End of namespace 00130 } // End of namespace 00131 00132 #endif
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