00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CObservationBearingRange_H 00029 #define CObservationBearingRange_H 00030 00031 #include <mrpt/utils/CSerializable.h> 00032 #include <mrpt/slam/CObservation.h> 00033 #include <mrpt/poses/CPose3D.h> 00034 #include <mrpt/slam/CLandmark.h> 00035 00036 namespace mrpt 00037 { 00038 namespace slam 00039 { 00040 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CObservationBearingRange , CObservation ) 00041 00042 /** This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs. 00043 * This class can manage sensors that detect landmarks in a 2D plane (e.g. a laser scanner) or in the 3D space (e.g. a camera). There are 00044 * two direction angles: yaw (azimuth) and pitch (negative elevation). For 2D sensors, the pitch must be always set to 0. 00045 * 00046 * \sa CObservation 00047 */ 00048 class MRPTDLLIMPEXP CObservationBearingRange : public CObservation 00049 { 00050 // This must be added to any CSerializable derived class: 00051 DEFINE_SERIALIZABLE( CObservationBearingRange ) 00052 00053 public: 00054 /** Default constructor. 00055 */ 00056 CObservationBearingRange( ); 00057 00058 /** Information about the sensor: Ranges, in meters 00059 */ 00060 float minSensorDistance, maxSensorDistance; 00061 00062 /** Information about the sensor: The "field-of-view" of the sensor, in radians (for both yaw & pitch). 00063 */ 00064 float fieldOfView; 00065 00066 /** The position of the sensor on the robot. 00067 */ 00068 CPose3D sensorLocationOnRobot; 00069 00070 /** Each one of the measurements: 00071 */ 00072 struct MRPTDLLIMPEXP TMeasurement 00073 { 00074 /** The sensed landmark distance, in meters. 00075 */ 00076 float range; 00077 00078 /** The sensed landmark direction, in radians, measured as the yaw (azimuth) and pitch (negative elevation). 00079 * See mrpt::poses::CPose3D for a definition of the 3D angles. 00080 */ 00081 float yaw,pitch; 00082 00083 /** The ID of the sensed beacon, or INVALID_LANDMARK_ID (-1) if the sensor does not identify the landmark. 00084 */ 00085 int32_t landmarkID; 00086 }; 00087 00088 /** The list of observed ranges: 00089 */ 00090 std::deque<TMeasurement> sensedData; 00091 00092 00093 /** Implements the virtual method in charge of finding the likelihood between this 00094 * and another observation, probably only of the same derived class. The operator 00095 * may be asymmetric. 00096 * 00097 * \param anotherObs The other observation to compute likelihood with. 00098 * \param 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. 00099 * 00100 * \return Returns a likelihood measurement, in the range [0,1]. 00101 * \exception std::exception On any error, as another observation being of an invalid class. 00102 */ 00103 float likelihoodWith( const CObservation *anotherObs, const CPosePDF *anotherObsPose = NULL ) const; 00104 00105 00106 /** Prints out the contents of the object. 00107 */ 00108 void debugPrintOut(); 00109 00110 /** A general method to retrieve the sensor pose on the robot. 00111 * Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases. 00112 * \sa setSensorPose 00113 */ 00114 void getSensorPose( CPose3D &out_sensorPose ) const { out_sensorPose = sensorLocationOnRobot; } 00115 00116 00117 /** A general method to change the sensor pose on the robot. 00118 * Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases. 00119 * \sa getSensorPose 00120 */ 00121 void setSensorPose( const CPose3D &newSensorPose ) { sensorLocationOnRobot = newSensorPose; } 00122 00123 00124 }; // End of class def. 00125 00126 00127 } // End of namespace 00128 } // End of namespace 00129 00130 #endif
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