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obs/CObservationVisualLandmarks.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9#ifndef CObservationVisualLandmarks_H
10#define CObservationVisualLandmarks_H
11
14#include <mrpt/poses/CPose3D.h>
15#include <mrpt/poses/CPose2D.h>
17
18namespace mrpt
19{
20namespace obs
21{
23
24 /** Declares a class derived from "CObservation" that stores a Landmarks Map as seen from a stereo camera at a given instant of time.
25 *
26 * \sa CLandmarksMap, CObservation
27 * \ingroup mrpt_vision_grp
28 */
30 {
31 // This must be added to any CSerializable derived class:
33
34 public:
35 CObservationVisualLandmarks( ); //!< Constructor
36
37 mrpt::poses::CPose3D refCameraPose; //!< The 3D pose of the reference camera relative to robot coordinates.
38 mrpt::maps::CLandmarksMap landmarks; //!< The landmarks, with coordinates origin in the camera reference system.
39
40 /** Implements the virtual method in charge of finding the likelihood between this
41 * and another observation, probably only of the same derived class. The operator
42 * may be asymmetric.
43 *
44 * \param anotherObs The other observation to compute likelihood with.
45 * \param anotherObsPose If known, the belief about the robot pose when the other observation was taken can be supplied here, or NULL if it is unknown.
46 *
47 * \return Returns a likelihood measurement, in the range [0,1].
48 * \exception std::exception On any error, as another observation being of an invalid class.
49 */
50 float likelihoodWith( const mrpt::obs::CObservation *anotherObs, const mrpt::poses::CPosePDF *anotherObsPose = NULL ) const;
51
52 // See base class docs
53 void getSensorPose( mrpt::poses::CPose3D &out_sensorPose ) const MRPT_OVERRIDE { out_sensorPose = refCameraPose; }
54 void setSensorPose( const mrpt::poses::CPose3D &newSensorPose ) MRPT_OVERRIDE { refCameraPose = newSensorPose; }
55 void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE;
56
57 }; // End of class def.
59
60
61 } // End of namespace
62} // End of namespace
63
64#endif
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
A class for storing a map of 3D probabilistic landmarks.
Declares a class that represents any robot's observation.
Declares a class derived from "CObservation" that stores a Landmarks Map as seen from a stereo camera...
mrpt::poses::CPose3D refCameraPose
The 3D pose of the reference camera relative to robot coordinates.
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
A general method to change the sensor pose on the robot.
mrpt::maps::CLandmarksMap landmarks
The landmarks, with coordinates origin in the camera reference system.
void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
float likelihoodWith(const mrpt::obs::CObservation *anotherObs, const mrpt::poses::CPosePDF *anotherObsPose=NULL) const
Implements the virtual method in charge of finding the likelihood between this and another observatio...
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
A general method to retrieve the sensor pose on the robot.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:73
Declares a class that represents a probability density function (pdf) of a 2D pose (x,...
Definition: CPosePDF.h:40
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Definition: mrpt_macros.h:28
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.



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