mrpt::slam::CObservation Class Reference

Declares a class that represents any robot's observation. More...

#include <mrpt/slam/CObservation.h>

Inheritance diagram for mrpt::slam::CObservation:

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Collaboration diagram for mrpt::slam::CObservation:

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List of all members.

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.
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.

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Detailed Description

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.

See also:

CSensoryFrame, CMetricMap

Definition at line 78 of file CObservation.h.

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Constructor & Destructor Documentation

mrpt::slam::CObservation::CObservation

(

)

Constructor: It sets the initial timestamp to current time.

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Member Function Documentation

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.

See also:

setSensorPose

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.

See also:

setSensorPose

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, and mrpt::slam::CObservationVisualLandmarks.

template<class METRICMAP >

bool mrpt::slam::CObservation::insertObservationInto	(	METRICMAP *	theMap,
		const CPose3D *	robotPose = NULL
	)			const [inline]

This method is equivalent to:.

                map->insertObservation(this, robotPose)

Parameters:

	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)

Returns:

Returns true if the map has been updated, or false if this observations has nothing to do with a metric map (for example, a sound observation).

See also:

CMetricMap, CMetricMap::insertObservation

Definition at line 119 of file CObservation.h.

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.

See also:

getSensorPose

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.

See also:

getSensorPose

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, and mrpt::slam::CObservationVisualLandmarks.

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.

Reimplemented in mrpt::slam::CObservation3DRangeScan.

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Member Data Documentation

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.

mrpt::system::TTimeStamp mrpt::slam::CObservation::timestamp

The associated time-stamp.

Definition at line 93 of file CObservation.h.