Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters. More...
#include <mrpt/slam/CObservationRange.h>
Classes | |
struct | TMeasurement |
Public Types | |
typedef std::deque< TMeasurement > | TMeasurementList |
typedef std::deque < TMeasurement > ::const_iterator | const_iterator |
typedef std::deque < TMeasurement >::iterator | iterator |
Public Member Functions | |
CObservationRange () | |
Default constructor. | |
iterator | begin () |
iterator | end () |
const_iterator | begin () const |
const_iterator | end () const |
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. | |
Public Attributes | |
float | minSensorDistance |
The data members. | |
float | maxSensorDistance |
float | sensorConeApperture |
TMeasurementList | sensedData |
All the measurements. |
Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters.
This can be used for example to store measurements from infrared proximity sensors (IR) or ultrasonic sensors (sonars).
Definition at line 48 of file CObservationRange.h.
typedef std::deque<TMeasurement>::const_iterator mrpt::slam::CObservationRange::const_iterator |
Definition at line 82 of file CObservationRange.h.
typedef std::deque<TMeasurement>::iterator mrpt::slam::CObservationRange::iterator |
Definition at line 83 of file CObservationRange.h.
typedef std::deque<TMeasurement> mrpt::slam::CObservationRange::TMeasurementList |
Definition at line 81 of file CObservationRange.h.
mrpt::slam::CObservationRange::CObservationRange | ( | ) |
Default constructor.
const_iterator mrpt::slam::CObservationRange::begin | ( | ) | const [inline] |
Definition at line 90 of file CObservationRange.h.
iterator mrpt::slam::CObservationRange::begin | ( | ) | [inline] |
Definition at line 88 of file CObservationRange.h.
const_iterator mrpt::slam::CObservationRange::end | ( | ) | const [inline] |
Definition at line 91 of file CObservationRange.h.
iterator mrpt::slam::CObservationRange::end | ( | ) | [inline] |
Definition at line 89 of file CObservationRange.h.
void mrpt::slam::CObservationRange::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::CObservationRange::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.
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. |
void mrpt::slam::CObservationRange::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.
Definition at line 61 of file CObservationRange.h.
The data members.
Definition at line 60 of file CObservationRange.h.
All the measurements.
Definition at line 85 of file CObservationRange.h.
Definition at line 62 of file CObservationRange.h.
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