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mrpt::slam::CObservationGasSensors Class Reference

Declares a class derived from "CObservation" that represents a set of readings from gas sensors. More...

#include <mrpt/slam/CObservationGasSensors.h>

Inheritance diagram for mrpt::slam::CObservationGasSensors:

mrpt::slam::CObservation mrpt::utils::CSerializable

List of all members.

Classes

struct  TObservationENose
 The structure for each e-nose. More...

Public Member Functions

 CObservationGasSensors ()
 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

std::vector< TObservationENosem_readings
 One entry per e-nose on the robot.


Detailed Description

Declares a class derived from "CObservation" that represents a set of readings from gas sensors.

See also:
CObservation

Definition at line 47 of file CObservationGasSensors.h.


Constructor & Destructor Documentation

mrpt::slam::CObservationGasSensors::CObservationGasSensors (  ) 

Constructor.


Member Function Documentation

void mrpt::slam::CObservationGasSensors::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.

float mrpt::slam::CObservationGasSensors::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.

Parameters:
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.
Returns:
Returns a likelihood measurement, in the range [0,1].
Exceptions:
std::exception On any error, as another observation being of an invalid class.

Implements mrpt::slam::CObservation.

void mrpt::slam::CObservationGasSensors::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

One entry per e-nose on the robot.

Definition at line 98 of file CObservationGasSensors.h.




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