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mrpt::slam::CObservationRange Class Reference

Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters. More...

#include <mrpt/slam/CObservationRange.h>

Inheritance diagram for mrpt::slam::CObservationRange:

mrpt::slam::CObservation mrpt::utils::CSerializable

List of all members.

Classes

struct  TMeasurement

Public Types

typedef std::deque< TMeasurementTMeasurementList
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.


Detailed Description

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).

See also:
CObservation

Definition at line 48 of file CObservationRange.h.


Member Typedef Documentation

Definition at line 82 of file CObservationRange.h.

Definition at line 83 of file CObservationRange.h.

Definition at line 81 of file CObservationRange.h.


Constructor & Destructor Documentation

mrpt::slam::CObservationRange::CObservationRange (  ) 

Default constructor.


Member Function Documentation

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.

See also:
setSensorPose

Implements mrpt::slam::CObservation.

float mrpt::slam::CObservationRange::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.

Parameters:
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.
Returns:
Returns a likelihood measurement, in the range [0,1].
Exceptions:
std::exception On any error, as another observation being of an invalid class.

Implements mrpt::slam::CObservation.

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.

See also:
getSensorPose

Implements mrpt::slam::CObservation.


Member Data Documentation

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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