#include <mrpt/slam/CObservationVisualLandmarks.h>
Public Member Functions | |
CObservationVisualLandmarks () | |
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 | 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 | |
CPose3D | refCameraPose |
The 3D pose of the reference camera relative to robot coordinates. | |
CLandmarksMap | landmarks |
The landmarks, with coordinates origin in the camera reference system. |
Definition at line 47 of file CObservationVisualLandmarks.h.
mrpt::slam::CObservationVisualLandmarks::CObservationVisualLandmarks | ( | ) |
Constructor.
void mrpt::slam::CObservationVisualLandmarks::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 81 of file CObservationVisualLandmarks.h.
float mrpt::slam::CObservationVisualLandmarks::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::CObservationVisualLandmarks::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 88 of file CObservationVisualLandmarks.h.
The landmarks, with coordinates origin in the camera reference system.
Definition at line 63 of file CObservationVisualLandmarks.h.
The 3D pose of the reference camera relative to robot coordinates.
Definition at line 59 of file CObservationVisualLandmarks.h.
Page generated by Doxygen 1.5.9 for MRPT 0.6.5 SVN: at Sun Aug 2 11:41:17 CDT 2009 |