mrpt::slam::CObservationBeaconRanges Class Reference

Declares a class derived from "CObservation" that represents one (or more) range measurements to labeled beacons. More...

#include <mrpt/slam/CObservationBeaconRanges.h>

Inheritance diagram for mrpt::slam::CObservationBeaconRanges:

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Collaboration diagram for mrpt::slam::CObservationBeaconRanges:

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List of all members.

Classes
struct	TMeasurement
	Each one of the measurements:. More...
Public Member Functions
	CObservationBeaconRanges ()
	Default constructor.
void	debugPrintOut ()
	Prints out the contents of the object.
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.
float	getSensedRangeByBeaconID (int32_t beaconID)
	Easy look-up into the vector sensedData, returns the range for a given beacon, or 0 if the beacon is not observed.
Public Attributes
float	minSensorDistance
	Information about the sensor:.
float	maxSensorDistance
float	stdError
	The "sigma" of the sensor, assuming a zero-mean Gaussian noise model.
std::deque< TMeasurement >	sensedData
	The list of observed ranges:.
CPose2D	auxEstimatePose
	The (X,Y,PHI) pose estimated by the UWB software, for comparison purposes (Added in streamming version 1).

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Detailed Description

Declares a class derived from "CObservation" that represents one (or more) range measurements to labeled beacons.

See also:

CObservation

Definition at line 46 of file CObservationBeaconRanges.h.

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Constructor & Destructor Documentation

mrpt::slam::CObservationBeaconRanges::CObservationBeaconRanges

(

)

Default constructor.

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Member Function Documentation

void mrpt::slam::CObservationBeaconRanges::debugPrintOut

(

)

Prints out the contents of the object.

float mrpt::slam::CObservationBeaconRanges::getSensedRangeByBeaconID

(

int32_t

beaconID

)

Easy look-up into the vector sensedData, returns the range for a given beacon, or 0 if the beacon is not observed.

void mrpt::slam::CObservationBeaconRanges::getSensorPose

(

CPose3D &

out_sensorPose

)

const [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.

void mrpt::slam::CObservationBeaconRanges::setSensorPose

(

const CPose3D &

newSensorPose

)

[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.

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Member Data Documentation

CPose2D mrpt::slam::CObservationBeaconRanges::auxEstimatePose

The (X,Y,PHI) pose estimated by the UWB software, for comparison purposes (Added in streamming version 1).

Definition at line 90 of file CObservationBeaconRanges.h.

float mrpt::slam::CObservationBeaconRanges::maxSensorDistance

Definition at line 58 of file CObservationBeaconRanges.h.

float mrpt::slam::CObservationBeaconRanges::minSensorDistance

Information about the sensor:.

Definition at line 58 of file CObservationBeaconRanges.h.

std::deque<TMeasurement> mrpt::slam::CObservationBeaconRanges::sensedData

The list of observed ranges:.

Definition at line 86 of file CObservationBeaconRanges.h.

float mrpt::slam::CObservationBeaconRanges::stdError

The "sigma" of the sensor, assuming a zero-mean Gaussian noise model.

Definition at line 62 of file CObservationBeaconRanges.h.