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mrpt::slam::CObservationBearingRange Class Reference


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.

#include <mrpt/slam/CObservationBearingRange.h>

Inheritance diagram for mrpt::slam::CObservationBearingRange:
Inheritance graph
[legend]

List of all members.

Classes

struct  TMeasurement
 Each one of the measurements: More...

Public Types

typedef std::vector< TMeasurementTMeasurementList

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 pitch ).
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

RTTI stuff

typedef CObservationBearingRangePtr SmartPtr
static mrpt::utils::CLASSINIT _init_CObservationBearingRange
static mrpt::utils::TRuntimeClassId classCObservationBearingRange
static const
mrpt::utils::TRuntimeClassId
classinfo
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime.
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class.
static mrpt::utils::CObjectCreateObject ()
static CObservationBearingRangePtr Create ()

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 50 of file CObservationBearingRange.h.

Definition at line 87 of file CObservationBearingRange.h.


Constructor & Destructor Documentation

mrpt::slam::CObservationBearingRange::CObservationBearingRange ( )

Default constructor.


Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationBearingRange::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::slam::CObservation.

static CObservationBearingRangePtr mrpt::slam::CObservationBearingRange::Create ( ) [static]
static mrpt::utils::CObject* mrpt::slam::CObservationBearingRange::CreateObject ( ) [static]
void mrpt::slam::CObservationBearingRange::debugPrintOut ( )

Prints out the contents of the object.

virtual mrpt::utils::CObject* mrpt::slam::CObservationBearingRange::duplicate ( ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationBearingRange::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CObservation.

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.


Member Data Documentation

Definition at line 50 of file CObservationBearingRange.h.

Definition at line 50 of file CObservationBearingRange.h.

Definition at line 50 of file CObservationBearingRange.h.

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

Definition at line 59 of file CObservationBearingRange.h.

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.

Definition at line 57 of file CObservationBearingRange.h.

Definition at line 57 of file CObservationBearingRange.h.

The list of observed ranges:

Definition at line 90 of file CObservationBearingRange.h.

Definition at line 99 of file CObservationBearingRange.h.

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.

Definition at line 99 of file CObservationBearingRange.h.

The position of the sensor on the robot.

Definition at line 63 of file CObservationBearingRange.h.

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.




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