Declares a class derived from "CObservation" that stores a Landmarks Map as seen from a stereo camera at a given instant of time.
Definition at line 47 of file CObservationVisualLandmarks.h.
#include <mrpt/slam/CObservationVisualLandmarks.h>
Public Member Functions | |
CObservationVisualLandmarks () | |
Constructor. | |
float | likelihoodWith (const CObservation *anotherObs, const CPosePDF *anotherObsPose=NULL) const |
Implements the virtual method in charge of finding the likelihood between this and another observation, probably only of the same derived class. | |
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 | |
CPose3D | refCameraPose |
The 3D pose of the reference camera relative to robot coordinates. | |
CLandmarksMap | landmarks |
The landmarks, with coordinates origin in the camera reference system. | |
RTTI stuff | |
typedef CObservationVisualLandmarksPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CObservationVisualLandmarks |
static mrpt::utils::TRuntimeClassId | classCObservationVisualLandmarks |
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 CObservationVisualLandmarksPtr | Create () |
A typedef for the associated smart pointer
Definition at line 50 of file CObservationVisualLandmarks.h.
mrpt::slam::CObservationVisualLandmarks::CObservationVisualLandmarks | ( | ) |
Constructor.
static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationVisualLandmarks::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::slam::CObservation.
static CObservationVisualLandmarksPtr mrpt::slam::CObservationVisualLandmarks::Create | ( | ) | [static] |
static mrpt::utils::CObject* mrpt::slam::CObservationVisualLandmarks::CreateObject | ( | ) | [static] |
virtual mrpt::utils::CObject* mrpt::slam::CObservationVisualLandmarks::duplicate | ( | ) | const [virtual] |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationVisualLandmarks::GetRuntimeClass | ( | ) | const [virtual] |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::slam::CObservation.
void mrpt::slam::CObservationVisualLandmarks::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 81 of file CObservationVisualLandmarks.h.
float mrpt::slam::CObservationVisualLandmarks::likelihoodWith | ( | const CObservation * | anotherObs, |
const CPosePDF * | anotherObsPose = NULL |
||
) | const |
Implements the virtual method in charge of finding the likelihood between this and another observation, probably only of the same derived class.
The operator may be asymmetric.
anotherObs | The other observation to compute likelihood with. |
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. |
std::exception | On any error, as another observation being of an invalid class. |
void mrpt::slam::CObservationVisualLandmarks::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 88 of file CObservationVisualLandmarks.h.
mrpt::utils::CLASSINIT mrpt::slam::CObservationVisualLandmarks::_init_CObservationVisualLandmarks [static, protected] |
Definition at line 50 of file CObservationVisualLandmarks.h.
mrpt::utils::TRuntimeClassId mrpt::slam::CObservationVisualLandmarks::classCObservationVisualLandmarks [static] |
Definition at line 50 of file CObservationVisualLandmarks.h.
Definition at line 50 of file CObservationVisualLandmarks.h.
The landmarks, with coordinates origin in the camera reference system.
Definition at line 63 of file CObservationVisualLandmarks.h.
The 3D pose of the reference camera relative to robot coordinates.
Definition at line 59 of file CObservationVisualLandmarks.h.
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