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<div class="title">lib_mrpt_obs.h</div> </div>
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<a href="lib__mrpt__obs_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/** \defgroup mrpt_obs_grp [mrpt-obs]</span>
<a name="l00002"></a>00002 <span class="comment"></span>
<a name="l00003"></a>00003 <span class="comment"><small> <a href="index.html#libs">Back to list of all libraries</a> | <a href="modules.html" >See all modules</a> </small></span>
<a name="l00004"></a>00004 <span class="comment"><br></span>
<a name="l00005"></a>00005 <span class="comment"></span>
<a name="l00006"></a>00006 <span class="comment"><h2>Library <code>mrpt-obs</code></h2></span>
<a name="l00007"></a>00007 <span class="comment"><hr></span>
<a name="l00008"></a>00008 <span class="comment"></span>
<a name="l00009"></a>00009 <span class="comment">In this library there are <b>five</b> key elements or groups of elements:</span>
<a name="l00010"></a>00010 <span class="comment"></span>
<a name="l00011"></a>00011 <span class="comment"><ul></span>
<a name="l00012"></a>00012 <span class="comment"></span>
<a name="l00013"></a>00013 <span class="comment"><li><b>Sensor observations:</b> All sensor observations share a common virtual base</span>
<a name="l00014"></a>00014 <span class="comment">class (mrpt::slam::CObservation). There are classes to store laser scanners, 3D range images,</span>
<a name="l00015"></a>00015 <span class="comment">monocular and stereo images, GPS data, odometry, etc. A concept very related to observations</span>
<a name="l00016"></a>00016 <span class="comment">is a mrpt::slam::CSensoryFrame, a set of observations which were collected approximately at the same instant. </li></span>
<a name="l00017"></a>00017 <span class="comment"></span>
<a name="l00018"></a>00018 <span class="comment"><li><b>Rawlogs (datasets):</b> A robotics dataset can be loaded, edited and explored by means </span>
<a name="l00019"></a>00019 <span class="comment">of the class mrpt::slam::CRawlog. See also: http://www.mrpt.org/Rawlog_Format </li></span>
<a name="l00020"></a>00020 <span class="comment"></span>
<a name="l00021"></a>00021 <span class="comment"><li><b>Actions:</b> For convenience in many Bayesian filtering algorithms, robot actions </span>
<a name="l00022"></a>00022 <span class="comment">(like 2D displacement characterized by an odometry increment) can be represented by means</span>
<a name="l00023"></a>00023 <span class="comment">of "actions". See mrpt::slam::CAction.</li></span>
<a name="l00024"></a>00024 <span class="comment"></span>
<a name="l00025"></a>00025 <span class="comment"><li><b>"Simple maps":</b> In MRPT, a "simple map" is a set of pairs: "position", "sensory frames" (read above).</span>
<a name="l00026"></a>00026 <span class="comment">The advantage of maintaining such a "simple map" instead a metric map is that the metric maps </span>
<a name="l00027"></a>00027 <span class="comment">can be rebuilt when needed with different parameters from the raw observations, which are never lost. </li></span>
<a name="l00028"></a>00028 <span class="comment"></span>
<a name="l00029"></a>00029 <span class="comment"><li><b>CARMEN logs tools:</b> Utilities to read from CARMEN log files and load the observations there</span>
<a name="l00030"></a>00030 <span class="comment">as MRPT observations. See mrpt::slam::carmen_log_parse_line and the applications: carmen2rawlog, carmen2simplemap. </li></span>
<a name="l00031"></a>00031 <span class="comment"></span>
<a name="l00032"></a>00032 <span class="comment"></ul></span>
<a name="l00033"></a>00033 <span class="comment"></span>
<a name="l00034"></a>00034 <span class="comment"></span>
<a name="l00035"></a>00035 <span class="comment"></span>
<a name="l00036"></a>00036 <span class="comment"></span>
<a name="l00037"></a>00037 <span class="comment">*/</span>
<a name="l00038"></a>00038
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