mrpt::slam::CObservationBearingRange Class Reference

This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs. More...

#include <mrpt/slam/CObservationBearingRange.h>

Inheritance diagram for mrpt::slam::CObservationBearingRange:

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Collaboration diagram for mrpt::slam::CObservationBearingRange:

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List of all members.

Classes
struct	TMeasurement
	Each one of the measurements:. More...
Public Types
typedef std::vector< TMeasurement >	TMeasurementList
Public Member Functions
	CObservationBearingRange ()
	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.
Public Attributes
float	minSensorDistance
float	maxSensorDistance
float	fieldOfView_yaw
	Information about the sensor: Ranges, in meters (0: there is no limits).
float	fieldOfView_pitch
	Information about the sensor: The "field-of-view" of the sensor, in radians (for yaw ).
CPose3D	sensorLocationOnRobot
	The position of the sensor on the robot.
TMeasurementList	sensedData
	The list of observed ranges:.
bool	validCovariances
	True: The individual 3x3 covariance matrices must be taken into account, false (default): All the measurements have identical, diagonal 3x3 covariance matrices given by the values sensor_std_range,sensor_std_yaw,sensor_std_pitch.
float	sensor_std_range
	Taken into account only if validCovariances=false: the standard deviation of the sensor noise model for range,yaw and pitch (in meters and radians).
float	sensor_std_yaw
float	sensor_std_pitch

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Detailed Description

This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs.

This class can manage sensors that detect landmarks in a 2D plane (e.g. a laser scanner) or in the 3D space (e.g. a camera). There are two direction angles: yaw (azimuth) and pitch (negative elevation). For 2D sensors, the pitch must be always set to 0. See CObservationBearingRange::validCovariances for the instructions to fill the uncertainty covariances.

See also:

CObservation

Definition at line 47 of file CObservationBearingRange.h.

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Member Typedef Documentation

typedef std::vector<TMeasurement> mrpt::slam::CObservationBearingRange::TMeasurementList

Definition at line 87 of file CObservationBearingRange.h.

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Constructor & Destructor Documentation

mrpt::slam::CObservationBearingRange::CObservationBearingRange

(

)

Default constructor.

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Member Function Documentation

void mrpt::slam::CObservationBearingRange::debugPrintOut

(

)

Prints out the contents of the object.

void mrpt::slam::CObservationBearingRange::getSensorPose

(

CPose3D &

out_sensorPose

)

const [inline, 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.

Definition at line 109 of file CObservationBearingRange.h.

void mrpt::slam::CObservationBearingRange::setSensorPose

(

const CPose3D &

newSensorPose

)

[inline, 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.

Definition at line 116 of file CObservationBearingRange.h.

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Member Data Documentation

float mrpt::slam::CObservationBearingRange::fieldOfView_pitch

Information about the sensor: The "field-of-view" of the sensor, in radians (for yaw ).

Definition at line 59 of file CObservationBearingRange.h.

float mrpt::slam::CObservationBearingRange::fieldOfView_yaw

Information about the sensor: Ranges, in meters (0: there is no limits).

Information about the sensor: The "field-of-view" of the sensor, in radians (for yaw ).

Definition at line 58 of file CObservationBearingRange.h.

float mrpt::slam::CObservationBearingRange::maxSensorDistance

Definition at line 57 of file CObservationBearingRange.h.

float mrpt::slam::CObservationBearingRange::minSensorDistance

Definition at line 57 of file CObservationBearingRange.h.

TMeasurementList mrpt::slam::CObservationBearingRange::sensedData

The list of observed ranges:.

Definition at line 90 of file CObservationBearingRange.h.

float mrpt::slam::CObservationBearingRange::sensor_std_pitch

Definition at line 99 of file CObservationBearingRange.h.

float mrpt::slam::CObservationBearingRange::sensor_std_range

Taken into account only if validCovariances=false: the standard deviation of the sensor noise model for range,yaw and pitch (in meters and radians).

If validCovariances=true, these 3 values are ignored and the individual 3x3 covariance matrices contain the actual uncertainties for each of the detected landmarks.

Definition at line 99 of file CObservationBearingRange.h.

float mrpt::slam::CObservationBearingRange::sensor_std_yaw

Definition at line 99 of file CObservationBearingRange.h.

CPose3D mrpt::slam::CObservationBearingRange::sensorLocationOnRobot

The position of the sensor on the robot.

Definition at line 63 of file CObservationBearingRange.h.

bool mrpt::slam::CObservationBearingRange::validCovariances

True: The individual 3x3 covariance matrices must be taken into account, false (default): All the measurements have identical, diagonal 3x3 covariance matrices given by the values sensor_std_range,sensor_std_yaw,sensor_std_pitch.

Definition at line 94 of file CObservationBearingRange.h.