#include <mrpt/slam/CObservationBearingRange.h>
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< TMeasurement > | sensedData |
The list of observed ranges:. |
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.
Definition at line 48 of file CObservationBearingRange.h.
mrpt::slam::CObservationBearingRange::CObservationBearingRange | ( | ) |
Default constructor.
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.
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.
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::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.
Implements mrpt::slam::CObservation.
Definition at line 121 of file CObservationBearingRange.h.
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.
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