#include <mrpt/slam/CObservationRange.h>
Classes | |
struct | TMeasurement |
Public Member Functions | |
CObservationRange () | |
Default 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 | |
float | minSensorDistance |
The data members. | |
float | maxSensorDistance |
float | sensorConeApperture |
std::deque< TMeasurement > | sensedData |
This can be used for example to store measurements from infrared proximity sensors (IR) or ultrasonic sensors (sonars).
Definition at line 48 of file CObservationRange.h.
mrpt::slam::CObservationRange::CObservationRange | ( | ) |
Default constructor.
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.
Implements mrpt::slam::CObservation.
float mrpt::slam::CObservationRange::likelihoodWith | ( | const CObservation * | anotherObs, | |
const CPosePDF * | anotherObsPose = NULL | |||
) | const [virtual] |
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. |
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.
Implements mrpt::slam::CObservation.
Definition at line 61 of file CObservationRange.h.
Definition at line 80 of file CObservationRange.h.
Definition at line 62 of file CObservationRange.h.
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