#include <mrpt/slam/CObservation.h>
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. |
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.
Definition at line 72 of file CObservation.h.
mrpt::slam::CObservation::CObservation | ( | ) |
Constructor: It sets the initial timestamp to current time.
virtual void mrpt::slam::CObservation::getSensorPose | ( | CPose3D & | out_sensorPose | ) | const [pure 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.
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.
bool mrpt::slam::CObservation::insertObservationInto | ( | CMetricMap * | theMap, | |
const CPose3D * | robotPose = NULL | |||
) | const |
This method is equivalent to:.
map->insertObservation(this, robotPose)
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) |
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.
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. |
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] |
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.
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.
std::string mrpt::slam::CObservation::sensorLabel |
An arbitrary label that can be used to identify the sensor.
Definition at line 116 of file CObservation.h.
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