mrpt::slam::CObservationRange Class Reference

Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters. More...

#include <mrpt/slam/CObservationRange.h>

Inheritance diagram for mrpt::slam::CObservationRange:

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Collaboration diagram for mrpt::slam::CObservationRange:

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List of all members.

Classes
struct	TMeasurement
Public Types
typedef std::deque< TMeasurement >	TMeasurementList
typedef std::deque < TMeasurement > ::const_iterator	const_iterator
typedef std::deque < TMeasurement >::iterator	iterator
Public Member Functions
	CObservationRange ()
	Default constructor.
iterator	begin ()
iterator	end ()
const_iterator	begin () const
const_iterator	end () const
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
	The data members.
float	maxSensorDistance
float	sensorConeApperture
	Cone aperture of each ultrasonic beam, in radians.
TMeasurementList	sensedData
	All the measurements.

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Detailed Description

Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters.

This can be used for example to store measurements from infrared proximity sensors (IR) or ultrasonic sensors (sonars).

See also:

CObservation

Definition at line 48 of file CObservationRange.h.

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Member Typedef Documentation

typedef std::deque<TMeasurement>::const_iterator mrpt::slam::CObservationRange::const_iterator

Definition at line 83 of file CObservationRange.h.

typedef std::deque<TMeasurement>::iterator mrpt::slam::CObservationRange::iterator

Definition at line 84 of file CObservationRange.h.

typedef std::deque<TMeasurement> mrpt::slam::CObservationRange::TMeasurementList

Definition at line 82 of file CObservationRange.h.

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Constructor & Destructor Documentation

mrpt::slam::CObservationRange::CObservationRange

(

)

Default constructor.

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Member Function Documentation

const_iterator mrpt::slam::CObservationRange::begin

(

)

const [inline]

Definition at line 91 of file CObservationRange.h.

iterator mrpt::slam::CObservationRange::begin

(

)

[inline]

Definition at line 89 of file CObservationRange.h.

const_iterator mrpt::slam::CObservationRange::end

(

)

const [inline]

Definition at line 92 of file CObservationRange.h.

iterator mrpt::slam::CObservationRange::end

(

)

[inline]

Definition at line 90 of file CObservationRange.h.

void mrpt::slam::CObservationRange::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::CObservationRange::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

float mrpt::slam::CObservationRange::maxSensorDistance

Definition at line 61 of file CObservationRange.h.

float mrpt::slam::CObservationRange::minSensorDistance

The data members.

Definition at line 60 of file CObservationRange.h.

TMeasurementList mrpt::slam::CObservationRange::sensedData

All the measurements.

Definition at line 86 of file CObservationRange.h.

float mrpt::slam::CObservationRange::sensorConeApperture

Cone aperture of each ultrasonic beam, in radians.

Definition at line 62 of file CObservationRange.h.