9 #ifndef CObservation6DFeatures_H
10 #define CObservation6DFeatures_H
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
A numeric matrix of compile-time fixed size.
An observation of one or more "features" or "objects", possibly identified with a unique ID,...
void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
mrpt::poses::CPose3D sensorPose
The pose of the sensor on the robot/vehicle.
CObservation6DFeatures()
Default ctor.
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
A general method to retrieve the sensor pose on the robot.
float maxSensorDistance
Information about the sensor.
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
A general method to change the sensor pose on the robot.
mrpt::aligned_containers< TMeasurement >::deque_t sensedFeatures
The list of observed features.
Declares a class that represents any robot's observation.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
#define MRPT_MAKE_ALIGNED_OPERATOR_NEW
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
std::deque< TYPE1, Eigen::aligned_allocator< TYPE1 > > deque_t
Each one of the measurements.
int32_t id
The feature ID, or INVALID_LANDMARK_ID if unidentified (default)
mrpt::math::CMatrixDouble66 inf_matrix
The inverse of the observation covariance matrix (default:all zeros)
mrpt::poses::CPose3D pose
The observed feature SE(3) pose with respect to the sensor.
TMeasurement()
Ctor with default values.