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mrpt::slam::CObservationRange Class Reference


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.

#include <mrpt/slam/CObservationRange.h>

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

List of all members.

Classes

struct  TMeasurement

Public Types

typedef std::deque< TMeasurementTMeasurementList
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.

RTTI stuff

typedef CObservationRangePtr SmartPtr
static mrpt::utils::CLASSINIT _init_CObservationRange
static mrpt::utils::TRuntimeClassId classCObservationRange
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 CObservationRangePtr Create ()

Member Typedef Documentation

Definition at line 83 of file CObservationRange.h.

Definition at line 84 of file CObservationRange.h.

A typedef for the associated smart pointer

Definition at line 51 of file CObservationRange.h.

Definition at line 82 of file CObservationRange.h.


Constructor & Destructor Documentation

mrpt::slam::CObservationRange::CObservationRange ( )

Default constructor.


Member Function Documentation

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

Reimplemented from mrpt::slam::CObservation.

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.

static CObservationRangePtr mrpt::slam::CObservationRange::Create ( ) [static]
static mrpt::utils::CObject* mrpt::slam::CObservationRange::CreateObject ( ) [static]
virtual mrpt::utils::CObject* mrpt::slam::CObservationRange::duplicate ( ) const [virtual]

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

Implements mrpt::utils::CObject.

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.

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CObservation.

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.


Member Data Documentation

Definition at line 51 of file CObservationRange.h.

Definition at line 51 of file CObservationRange.h.

Definition at line 51 of file CObservationRange.h.

Definition at line 61 of file CObservationRange.h.

The data members.

Definition at line 60 of file CObservationRange.h.

All the measurements.

Definition at line 86 of file CObservationRange.h.

Cone aperture of each ultrasonic beam, in radians.

Definition at line 62 of file CObservationRange.h.




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