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.
Definition at line 47 of file CObservationBearingRange.h.
#include <mrpt/slam/CObservationBearingRange.h>
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 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::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. | |
static mrpt::utils::CObject * | CreateObject () |
static CObservationBearingRangePtr | Create () |
A typedef for the associated smart pointer
Definition at line 50 of file CObservationBearingRange.h.
typedef std::vector<TMeasurement> mrpt::slam::CObservationBearingRange::TMeasurementList |
Definition at line 87 of file CObservationBearingRange.h.
mrpt::slam::CObservationBearingRange::CObservationBearingRange | ( | ) |
Default constructor.
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.
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.
Implements mrpt::slam::CObservation.
Definition at line 116 of file CObservationBearingRange.h.
mrpt::utils::CLASSINIT mrpt::slam::CObservationBearingRange::_init_CObservationBearingRange [static, protected] |
Definition at line 50 of file CObservationBearingRange.h.
mrpt::utils::TRuntimeClassId mrpt::slam::CObservationBearingRange::classCObservationBearingRange [static] |
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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