#include <mrpt/slam/CObservation3DRangeScan.h>
Classes | |
class | CAuxMapWrapper |
Public Member Functions | |
CObservation3DRangeScan () | |
Default constructor. | |
~CObservation3DRangeScan () | |
Destructor. | |
const CPointsMap * | getAuxPointsMap () const |
Auxiliary members used to speed up some algorithms: it will be NULL normally. | |
const CPointsMap * | 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. | |
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 |
from a time of flight range camera).
Definition at line 52 of file CObservation3DRangeScan.h.
mrpt::slam::CObservation3DRangeScan::CObservation3DRangeScan | ( | ) |
Default constructor.
mrpt::slam::CObservation3DRangeScan::~CObservation3DRangeScan | ( | ) |
Destructor.
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.
options | Can be NULL to use default point maps' insertion options, or a valid pointer to override some params. |
const CPointsMap* mrpt::slam::CObservation3DRangeScan::getAuxPointsMap | ( | ) | const [inline] |
Auxiliary members used to speed up some algorithms: it will be NULL normally.
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.
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.
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::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.
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.
CAuxMapWrapper mrpt::slam::CObservation3DRangeScan::m_auxMap [mutable, protected] |
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 "sigma" error of the device in meters, used while inserting the scan in an occupancy grid.
Definition at line 110 of file CObservation3DRangeScan.h.
std::vector<char> mrpt::slam::CObservation3DRangeScan::validRange |
It's false (=0) for points outside of [min_distance, max_distance], referenced to elements in "scan_x".
Definition at line 98 of file CObservation3DRangeScan.h.
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