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mrpt::slam::CObservationBeaconRanges Class Reference


Detailed Description

Declares a class derived from "CObservation" that represents one (or more) range measurements to labeled beacons.

See also:
CObservation

Definition at line 46 of file CObservationBeaconRanges.h.

#include <mrpt/slam/CObservationBeaconRanges.h>

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

List of all members.

Classes

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

Public Member Functions

 CObservationBeaconRanges ()
 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.
float getSensedRangeByBeaconID (int32_t beaconID)
 Easy look-up into the vector sensedData, returns the range for a given beacon, or 0 if the beacon is not observed.

Public Attributes

float minSensorDistance
 Information about the sensor:
float maxSensorDistance
float stdError
 The "sigma" of the sensor, assuming a zero-mean Gaussian noise model.
std::deque< TMeasurementsensedData
 The list of observed ranges:
CPose2D auxEstimatePose
 The (X,Y,PHI) pose estimated by the UWB software, for comparison purposes (Added in streamming version 1)

RTTI stuff

typedef CObservationBeaconRangesPtr SmartPtr
static mrpt::utils::CLASSINIT _init_CObservationBeaconRanges
static mrpt::utils::TRuntimeClassId classCObservationBeaconRanges
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 CObservationBeaconRangesPtr Create ()

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 49 of file CObservationBeaconRanges.h.


Constructor & Destructor Documentation

mrpt::slam::CObservationBeaconRanges::CObservationBeaconRanges ( )

Default constructor.


Member Function Documentation

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

Reimplemented from mrpt::slam::CObservation.

static CObservationBeaconRangesPtr mrpt::slam::CObservationBeaconRanges::Create ( ) [static]
static mrpt::utils::CObject* mrpt::slam::CObservationBeaconRanges::CreateObject ( ) [static]
void mrpt::slam::CObservationBeaconRanges::debugPrintOut ( )

Prints out the contents of the object.

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

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

Implements mrpt::utils::CObject.

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

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CObservation.

float mrpt::slam::CObservationBeaconRanges::getSensedRangeByBeaconID ( int32_t  beaconID)

Easy look-up into the vector sensedData, returns the range for a given beacon, or 0 if the beacon is not observed.

void mrpt::slam::CObservationBeaconRanges::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::CObservationBeaconRanges::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 49 of file CObservationBeaconRanges.h.

The (X,Y,PHI) pose estimated by the UWB software, for comparison purposes (Added in streamming version 1)

Definition at line 90 of file CObservationBeaconRanges.h.

Definition at line 49 of file CObservationBeaconRanges.h.

Definition at line 49 of file CObservationBeaconRanges.h.

Definition at line 58 of file CObservationBeaconRanges.h.

Information about the sensor:

Definition at line 58 of file CObservationBeaconRanges.h.

The list of observed ranges:

Definition at line 86 of file CObservationBeaconRanges.h.

The "sigma" of the sensor, assuming a zero-mean Gaussian noise model.

Definition at line 62 of file CObservationBeaconRanges.h.




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