#include <mrpt/slam/CObservationBeaconRanges.h>
Classes | |
struct | TMeasurement |
Each one of the measurements:. More... | |
Public Member Functions | |
CObservationBeaconRanges () | |
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. | |
float | getSensedRangeByBeaconID (int32_t beaconID) |
Easy look-up into the vector sensedData, returns the range for a given beacon, or 0 if the beacon is not observed. | |
Public Attributes | |
float | minSensorDistance |
Information about the sensor:. | |
float | maxSensorDistance |
float | stdError |
The "sigma" of the sensor, assuming a zero-mean Gaussian noise model. | |
std::deque< TMeasurement > | sensedData |
The list of observed ranges:. | |
CPose2D | auxEstimatePose |
The (X,Y,PHI) pose estimated by the UWB software, for comparison purposes (Added in streamming version 1). |
Definition at line 46 of file CObservationBeaconRanges.h.
mrpt::slam::CObservationBeaconRanges::CObservationBeaconRanges | ( | ) |
Default constructor.
void mrpt::slam::CObservationBeaconRanges::debugPrintOut | ( | ) |
Prints out the contents of the object.
float mrpt::slam::CObservationBeaconRanges::getSensedRangeByBeaconID | ( | int32_t | beaconID | ) |
Easy look-up into the vector sensedData, returns the range for a given beacon, or 0 if the beacon is not observed.
void mrpt::slam::CObservationBeaconRanges::getSensorPose | ( | CPose3D & | out_sensorPose | ) | const [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.
float mrpt::slam::CObservationBeaconRanges::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::CObservationBeaconRanges::setSensorPose | ( | const CPose3D & | newSensorPose | ) | [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.
The (X,Y,PHI) pose estimated by the UWB software, for comparison purposes (Added in streamming version 1).
Definition at line 90 of file CObservationBeaconRanges.h.
Definition at line 58 of file CObservationBeaconRanges.h.
The "sigma" of the sensor, assuming a zero-mean Gaussian noise model.
Definition at line 62 of file CObservationBeaconRanges.h.
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