9 #ifndef CObservationBearingRange_H 10 #define CObservationBearingRange_H 39 float minSensorDistance, maxSensorDistance;
40 float fieldOfView_yaw;
41 float fieldOfView_pitch;
45 mrpt::poses::CPose3D sensorLocationOnRobot;
90 virtual void getDescriptionAsText(std::ostream &o)
const;
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const
A general method to retrieve the sensor pose on the robot.
float range
The sensed landmark distance, in meters.
float yaw
The sensed landmark direction, in radians, measured as the yaw (azimuth) and pitch (negative elevatio...
int32_t landmarkID
The ID of the sensed beacon, or INVALID_LANDMARK_ID (-1) if the sensor does not identify the landmark...
A numeric matrix of compile-time fixed size.
#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...
std::vector< TMeasurement > TMeasurementList
Each one of the measurements:
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Declares a class that represents any robot's observation.
This observation represents a number of range-bearing value pairs, each one for a detected landmark...
bool validCovariances
True: The individual 3x3 covariance matrices must be taken into account, false (default): All the mea...
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose)
A general method to change the sensor pose on the robot.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
TMeasurementList sensedData
The list of observed ranges:
mrpt::math::CMatrixDouble33 covariance
The covariance matrix of the landmark, with variable indices [0,1,2] being [range,yaw,pitch].