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mrpt::slam::CObservation3DRangeScan Class Reference

Declares a class derived from "CObservation" that encapsules a 3D range scan measurement (e.g. More...

#include <mrpt/slam/CObservation3DRangeScan.h>

Inheritance diagram for mrpt::slam::CObservation3DRangeScan:

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

List of all members.

Classes

class  CAuxMapWrapper

Public Member Functions

 CObservation3DRangeScan ()
 Default constructor.
 ~CObservation3DRangeScan ()
 Destructor.
const CPointsMapgetAuxPointsMap () const
 Auxiliary members used to speed up some algorithms: it will be NULL normally.
const CPointsMapbuildAuxPointsMap (CPointsMap::TInsertionOptions *options=NULL) const
 Returns an auxiliary points map built from the scan; it is actually build at the first call to this method, and only once.
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.
void truncateByDistance (float min_distance, float max_distance)
 A method to truncate the scan by defining a minimum and maximum valid distance.

Public Attributes

vector_float scan_x
 The x y and z coordinates of the 3D range measurement, in meters.
vector_float scan_y
vector_float scan_z
std::vector< char > validRange
 It's false (=0) for points outside of [min_distance, max_distance], referenced to elements in "scan_x".
float maxRange
 The maximum range allowed by the device, in meters (e.g.
CPose3D sensorPose
 The 6D pose of the sensor on the robot.
float stdError
 The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid.

Protected Attributes

CAuxMapWrapper m_auxMap


Detailed Description

Declares a class derived from "CObservation" that encapsules a 3D range scan measurement (e.g.

from a time of flight range camera).

See also:
CObservation

Definition at line 52 of file CObservation3DRangeScan.h.


Constructor & Destructor Documentation

mrpt::slam::CObservation3DRangeScan::CObservation3DRangeScan (  ) 

Default constructor.

mrpt::slam::CObservation3DRangeScan::~CObservation3DRangeScan (  ) 

Destructor.


Member Function Documentation

const CPointsMap* mrpt::slam::CObservation3DRangeScan::buildAuxPointsMap ( CPointsMap::TInsertionOptions options = NULL  )  const

Returns an auxiliary points map built from the scan; it is actually build at the first call to this method, and only once.

Parameters:
options Can be NULL to use default point maps' insertion options, or a valid pointer to override some params.
See also:
auxPointsMap

const CPointsMap* mrpt::slam::CObservation3DRangeScan::getAuxPointsMap (  )  const [inline]

Auxiliary members used to speed up some algorithms: it will be NULL normally.

See also:
buildAuxPointsMap

Definition at line 115 of file CObservation3DRangeScan.h.

References mrpt::slam::CObservation3DRangeScan::CAuxMapWrapper::get().

void mrpt::slam::CObservation3DRangeScan::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 139 of file CObservation3DRangeScan.h.

float mrpt::slam::CObservation3DRangeScan::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::CObservation3DRangeScan::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 145 of file CObservation3DRangeScan.h.

void mrpt::slam::CObservation3DRangeScan::truncateByDistance ( float  min_distance,
float  max_distance 
)

A method to truncate the scan by defining a minimum and maximum valid distance.


Member Data Documentation

Definition at line 78 of file CObservation3DRangeScan.h.

The maximum range allowed by the device, in meters (e.g.

8.0m, 5.0m,...)

Definition at line 102 of file CObservation3DRangeScan.h.

The x y and z coordinates of the 3D range measurement, in meters.

Definition at line 91 of file CObservation3DRangeScan.h.

Definition at line 92 of file CObservation3DRangeScan.h.

Definition at line 93 of file CObservation3DRangeScan.h.

The 6D pose of the sensor on the robot.

Definition at line 106 of file CObservation3DRangeScan.h.

The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid.

Definition at line 110 of file CObservation3DRangeScan.h.

It's false (=0) for points outside of [min_distance, max_distance], referenced to elements in "scan_x".

See also:
truncateByDistance

Definition at line 98 of file CObservation3DRangeScan.h.




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