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mrpt::slam::CObservationBearingRange Class Reference

This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs. More...

#include <mrpt/slam/CObservationBearingRange.h>

Inheritance diagram for mrpt::slam::CObservationBearingRange:

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

List of all members.

Classes

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

Public Member Functions

 CObservationBearingRange ()
 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 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.

Public Attributes

float minSensorDistance
 Information about the sensor: Ranges, in meters.
float maxSensorDistance
float fieldOfView
 Information about the sensor: The "field-of-view" of the sensor, in radians (for both yaw & pitch).
CPose3D sensorLocationOnRobot
 The position of the sensor on the robot.
std::deque< TMeasurementsensedData
 The list of observed ranges:.


Detailed Description

This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs.

This class can manage sensors that detect landmarks in a 2D plane (e.g. a laser scanner) or in the 3D space (e.g. a camera). There are two direction angles: yaw (azimuth) and pitch (negative elevation). For 2D sensors, the pitch must be always set to 0.

See also:
CObservation

Definition at line 48 of file CObservationBearingRange.h.


Constructor & Destructor Documentation

mrpt::slam::CObservationBearingRange::CObservationBearingRange (  ) 

Default constructor.


Member Function Documentation

void mrpt::slam::CObservationBearingRange::debugPrintOut (  ) 

Prints out the contents of the object.

void mrpt::slam::CObservationBearingRange::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.

See also:
setSensorPose

Implements mrpt::slam::CObservation.

Definition at line 114 of file CObservationBearingRange.h.

float mrpt::slam::CObservationBearingRange::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::CObservationBearingRange::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.

See also:
getSensorPose

Implements mrpt::slam::CObservation.

Definition at line 121 of file CObservationBearingRange.h.


Member Data Documentation

Information about the sensor: The "field-of-view" of the sensor, in radians (for both yaw & pitch).

Definition at line 64 of file CObservationBearingRange.h.

Definition at line 60 of file CObservationBearingRange.h.

Information about the sensor: Ranges, in meters.

Definition at line 60 of file CObservationBearingRange.h.

The list of observed ranges:.

Definition at line 90 of file CObservationBearingRange.h.

The position of the sensor on the robot.

Definition at line 68 of file CObservationBearingRange.h.




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