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CObservationVisualLandmarks.h

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00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
00005    |                                                                           |
00006    |   Copyright (C) 2005-2011  University of Malaga                           |
00007    |                                                                           |
00008    |    This software was written by the Machine Perception and Intelligent    |
00009    |      Robotics Lab, University of Malaga (Spain).                          |
00010    |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
00011    |                                                                           |
00012    |  This file is part of the MRPT project.                                   |
00013    |                                                                           |
00014    |     MRPT is free software: you can redistribute it and/or modify          |
00015    |     it under the terms of the GNU General Public License as published by  |
00016    |     the Free Software Foundation, either version 3 of the License, or     |
00017    |     (at your option) any later version.                                   |
00018    |                                                                           |
00019    |   MRPT is distributed in the hope that it will be useful,                 |
00020    |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
00021    |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
00022    |     GNU General Public License for more details.                          |
00023    |                                                                           |
00024    |     You should have received a copy of the GNU General Public License     |
00025    |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
00026    |                                                                           |
00027    +---------------------------------------------------------------------------+ */
00028 #ifndef CObservationVisualLandmarks_H
00029 #define CObservationVisualLandmarks_H
00030 
00031 #include <mrpt/utils/CSerializable.h>
00032 #include <mrpt/slam/CObservation.h>
00033 #include <mrpt/poses/CPose3D.h>
00034 #include <mrpt/poses/CPose2D.h>
00035 #include <mrpt/slam/CLandmarksMap.h>
00036 
00037 namespace mrpt
00038 {
00039 namespace slam
00040 {
00041         DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationVisualLandmarks , CObservation, VISION_IMPEXP )
00042 
00043         /** Declares a class derived from "CObservation" that stores a Landmarks Map as seen from a stereo camera at a given instant of time.
00044          *
00045          * \sa CLandmarksMap, CObservation
00046          */
00047         class VISION_IMPEXP CObservationVisualLandmarks : public CObservation
00048         {
00049                 // This must be added to any CSerializable derived class:
00050                 DEFINE_SERIALIZABLE( CObservationVisualLandmarks )
00051 
00052          public:
00053                 /** Constructor
00054                  */
00055                 CObservationVisualLandmarks( );
00056 
00057                 /** The 3D pose of the reference camera relative to robot coordinates.
00058                   */
00059                 CPose3D                         refCameraPose;
00060 
00061                  /** The landmarks, with coordinates origin in the camera reference system.
00062                   */
00063                 CLandmarksMap           landmarks;
00064 
00065                 /** Implements the virtual method in charge of finding the likelihood between this
00066                   *   and another observation, probably only of the same derived class. The operator
00067                   *   may be asymmetric.
00068                   *
00069                   * \param anotherObs The other observation to compute likelihood with.
00070                   * \param anotherObsPose If known, the belief about the robot pose when the other observation was taken can be supplied here, or NULL if it is unknown.
00071                   *
00072                   * \return Returns a likelihood measurement, in the range [0,1].
00073                   *     \exception std::exception On any error, as another observation being of an invalid class.
00074                   */
00075                  float  likelihoodWith( const CObservation *anotherObs, const CPosePDF *anotherObsPose = NULL ) const;
00076 
00077                 /** A general method to retrieve the sensor pose on the robot.
00078                   *  Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.
00079                   * \sa setSensorPose
00080                   */
00081                 void getSensorPose( CPose3D &out_sensorPose ) const { out_sensorPose = refCameraPose; }
00082 
00083 
00084                 /** A general method to change the sensor pose on the robot.
00085                   *  Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.
00086                   * \sa getSensorPose
00087                   */
00088                 void setSensorPose( const CPose3D &newSensorPose ) { refCameraPose = newSensorPose; }
00089 
00090 
00091         }; // End of class def.
00092 
00093 
00094         } // End of namespace
00095 } // End of namespace
00096 
00097 #endif



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