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mrpt::slam::CObservation Class Reference

Declares a class that represents any robot's observation. More...

#include <mrpt/slam/CObservation.h>

Inheritance diagram for mrpt::slam::CObservation:

mrpt::utils::CSerializable mrpt::slam::CObservation2DRangeScan mrpt::slam::CObservationBatteryState mrpt::slam::CObservationBeaconRanges mrpt::slam::CObservationBearingRange mrpt::slam::CObservationComment mrpt::slam::CObservationGasSensors mrpt::slam::CObservationGPS mrpt::slam::CObservationImage mrpt::slam::CObservationIMU mrpt::slam::CObservationOdometry mrpt::slam::CObservationRange mrpt::slam::CObservationStereoImages mrpt::slam::CObservationVisualLandmarks

List of all members.

Public Member Functions

 CObservation ()
 Constructor: It sets the initial timestamp to current time.
virtual float likelihoodWith (const CObservation *anotherObs, const CPosePDF *anotherObsPose=NULL) const =0
 Inserts a pure virtual method for finding the likelihood between this and another observation, probably only of the same derived class.
bool insertObservationInto (CMetricMap *theMap, const CPose3D *robotPose=NULL) const
 This method is equivalent to:.
virtual void getSensorPose (CPose3D &out_sensorPose) const =0
 A general method to retrieve the sensor pose on the robot.
virtual void setSensorPose (const CPose3D &newSensorPose)=0
 A general method to change the sensor pose on the robot.

Public Attributes

mrpt::system::TTimeStamp timestamp
 The associated time-stamp.
std::string sensorLabel
 An arbitrary label that can be used to identify the sensor.


Detailed Description

Declares a class that represents any robot's observation.

This is a base class for many types of sensors observations. Users can add a new observation type creating a new class deriving from this one.
IMPORTANT: Observations doesn't include any information about the robot pose beliefs, just the raw observation and, where aplicable, information about sensor position or orientation respect to robotic coordinates origin.

See also:
CSensoryFrame, CMetricMap

Definition at line 72 of file CObservation.h.


Constructor & Destructor Documentation

mrpt::slam::CObservation::CObservation (  ) 

Constructor: It sets the initial timestamp to current time.


Member Function Documentation

virtual void mrpt::slam::CObservation::getSensorPose ( CPose3D out_sensorPose  )  const [pure virtual]

bool mrpt::slam::CObservation::insertObservationInto ( CMetricMap theMap,
const CPose3D robotPose = NULL 
) const

This method is equivalent to:.

                map->insertObservation(this, robotPose)
Parameters:
theMap The map where this observation is to be inserted: the map will be updated.
robotPose The pose of the robot base for this observation, relative to the target metric map. Set to NULL (default) to use (0,0,0deg)
Returns:
Returns true if the map has been updated, or false if this observations has nothing to do with a metric map (for example, a sound observation).
See also:
CMetricMap::insertObservation

virtual float mrpt::slam::CObservation::likelihoodWith ( const CObservation anotherObs,
const CPosePDF anotherObsPose = NULL 
) const [pure virtual]

Inserts a pure virtual method for 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.

Implemented in mrpt::slam::CObservation2DRangeScan, mrpt::slam::CObservationBatteryState, mrpt::slam::CObservationBeaconRanges, mrpt::slam::CObservationBearingRange, mrpt::slam::CObservationComment, mrpt::slam::CObservationGasSensors, mrpt::slam::CObservationGPS, mrpt::slam::CObservationImage, mrpt::slam::CObservationIMU, mrpt::slam::CObservationOdometry, mrpt::slam::CObservationRange, mrpt::slam::CObservationStereoImages, and mrpt::slam::CObservationVisualLandmarks.

virtual void mrpt::slam::CObservation::setSensorPose ( const CPose3D newSensorPose  )  [pure virtual]


Member Data Documentation

An arbitrary label that can be used to identify the sensor.

Definition at line 116 of file CObservation.h.

The associated time-stamp.

Definition at line 112 of file CObservation.h.




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