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<div class="title">CObservationBeaconRanges.h</div> </div>
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<a href="_c_observation_beacon_ranges_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CObservationBeaconRanges_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CObservationBeaconRanges_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_serializable_8h.html">mrpt/utils/CSerializable.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_observation_8h.html">mrpt/slam/CObservation.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_point3_d_8h.html">mrpt/poses/CPoint3D.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_pose2_d_8h.html">mrpt/poses/CPose2D.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_8h.html">mrpt/poses/CPose3D.h</a>></span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="keyword">namespace </span>mrpt
<a name="l00038"></a>00038 {
<a name="l00039"></a>00039 <span class="keyword">namespace </span>slam
<a name="l00040"></a>00040 {
<a name="l00041"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_beacon_ranges_ptr.html#a6005b84cb2dcff48d3048c22a30b122f">00041</a> <a class="code" href="_c_serializable_8h.html#a9ef523d787f6cb837a0585b790882588" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE</a>( <a class="code" href="classmrpt_1_1slam_1_1_c_observation_beacon_ranges.html" title="Declares a class derived from "CObservation" that represents one (or more) range measurements to labe...">CObservationBeaconRanges</a>, <a class="code" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot's observation.">CObservation</a>, <a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a> )
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="comment">/** Declares a class derived from "CObservation" that represents one (or more) range measurements to labeled beacons.</span>
<a name="l00044"></a>00044 <span class="comment"> * \sa CObservation</span>
<a name="l00045"></a>00045 <span class="comment"> * \ingroup mrpt_obs_grp</span>
<a name="l00046"></a>00046 <span class="comment"> */</span>
<a name="l00047"></a>00047 class <a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_beacon_ranges.html" title="Declares a class derived from "CObservation" that represents one (or more) range measurements to labe...">CObservationBeaconRanges</a> : public <a class="code" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot's observation.">CObservation</a>
<a name="l00048"></a>00048 {
<a name="l00049"></a>00049 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00050"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_beacon_ranges.html#acf5102cdcbb261c8c5b2cef958a43e76">00050</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1slam_1_1_c_observation_beacon_ranges.html" title="Declares a class derived from "CObservation" that represents one (or more) range measurements to labe...">CObservationBeaconRanges</a> )
<a name="l00051"></a>00051
<a name="l00052"></a>00052 public:<span class="comment"></span>
<a name="l00053"></a>00053 <span class="comment"> /** Default constructor.</span>
<a name="l00054"></a>00054 <span class="comment"> */</span>
<a name="l00055"></a>00055 <a class="code" href="classmrpt_1_1slam_1_1_c_observation_beacon_ranges.html" title="Declares a class derived from "CObservation" that represents one (or more) range measurements to labe...">CObservationBeaconRanges</a>( );
<a name="l00056"></a>00056 <span class="comment"></span>
<a name="l00057"></a>00057 <span class="comment"> /** Information about the sensor:</span>
<a name="l00058"></a>00058 <span class="comment"> */</span>
<a name="l00059"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_beacon_ranges.html#a7fb547e1c8256f0b841a5eaed3d34f99">00059</a> <span class="keywordtype">float</span> minSensorDistance, maxSensorDistance;
<a name="l00060"></a>00060 <span class="comment"></span>
<a name="l00061"></a>00061 <span class="comment"> /** The "sigma" of the sensor, assuming a zero-mean Gaussian noise model.</span>
<a name="l00062"></a>00062 <span class="comment"> */</span>
<a name="l00063"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_beacon_ranges.html#a70b20c3702658627d2bc0db5215bb8a1">00063</a> <span class="keywordtype">float</span> stdError;
<a name="l00064"></a>00064 <span class="comment"></span>
<a name="l00065"></a>00065 <span class="comment"> /** Each one of the measurements:</span>
<a name="l00066"></a>00066 <span class="comment"> */</span>
<a name="l00067"></a>00067 struct <a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_beacon_ranges_1_1_t_measurement.html" title="Each one of the measurements:">TMeasurement</a>
<a name="l00068"></a>00068 {
<a name="l00069"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_beacon_ranges_1_1_t_measurement.html#a2fd5da68b96dee299ba6dff2ad1a1ef6">00069</a> TMeasurement() : sensorLocationOnRobot(), sensedDistance(0),beaconID(<a class="code" href="group__mrpt__obs__grp.html#ga664c88c8d05358e6403cda109f338efc" title="Used for CObservationBeaconRange.">INVALID_BEACON_ID</a>)
<a name="l00070"></a>00070 {}
<a name="l00071"></a>00071 <span class="comment"></span>
<a name="l00072"></a>00072 <span class="comment"> /** The position of the sensor on the robot.</span>
<a name="l00073"></a>00073 <span class="comment"> */</span>
<a name="l00074"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_beacon_ranges_1_1_t_measurement.html#a0d3883b3796ce44f89f93f35a095fd6e">00074</a> <a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html" title="A class used to store a 3D point.">CPoint3D</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_beacon_ranges_1_1_t_measurement.html#a0d3883b3796ce44f89f93f35a095fd6e" title="The position of the sensor on the robot.">sensorLocationOnRobot</a>;
<a name="l00075"></a>00075 <span class="comment"></span>
<a name="l00076"></a>00076 <span class="comment"> /** The sensed range itself (in meters).</span>
<a name="l00077"></a>00077 <span class="comment"> */</span>
<a name="l00078"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_beacon_ranges_1_1_t_measurement.html#a9e61492210cba46330d1938b425bbf54">00078</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_beacon_ranges_1_1_t_measurement.html#a9e61492210cba46330d1938b425bbf54" title="The sensed range itself (in meters).">sensedDistance</a>;
<a name="l00079"></a>00079 <span class="comment"></span>
<a name="l00080"></a>00080 <span class="comment"> /** The ID of the sensed beacon (or INVALID_BEACON_ID)</span>
<a name="l00081"></a>00081 <span class="comment"> */</span>
<a name="l00082"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_beacon_ranges_1_1_t_measurement.html#afe786b978455e21a52efc6f1b5cb3371">00082</a> int32_t <a class="code" href="structmrpt_1_1slam_1_1_c_observation_beacon_ranges_1_1_t_measurement.html#afe786b978455e21a52efc6f1b5cb3371" title="The ID of the sensed beacon (or INVALID_BEACON_ID)">beaconID</a>;
<a name="l00083"></a>00083 };
<a name="l00084"></a>00084 <span class="comment"></span>
<a name="l00085"></a>00085 <span class="comment"> /** The list of observed ranges:</span>
<a name="l00086"></a>00086 <span class="comment"> */</span>
<a name="l00087"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_beacon_ranges.html#a88521d7a3d112b6115740f3e2eb3e3ec">00087</a> std<a class="code" href="classstd_1_1deque.html">::deque<TMeasurement></a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_beacon_ranges.html#a88521d7a3d112b6115740f3e2eb3e3ec" title="The list of observed ranges:">sensedData</a>;
<a name="l00088"></a>00088 <span class="comment"></span>
<a name="l00089"></a>00089 <span class="comment"> /** The (X,Y,PHI) pose estimated by the UWB software, for comparison purposes (Added in streamming version 1)</span>
<a name="l00090"></a>00090 <span class="comment"> */</span>
<a name="l00091"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_beacon_ranges.html#a1bea11a3154d1ebc18f2b040d315c3f1">00091</a> <a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_beacon_ranges.html#a1bea11a3154d1ebc18f2b040d315c3f1" title="The (X,Y,PHI) pose estimated by the UWB software, for comparison purposes (Added in streamming versio...">auxEstimatePose</a>;
<a name="l00092"></a>00092
<a name="l00093"></a>00093 <span class="comment"></span>
<a name="l00094"></a>00094 <span class="comment"> /** Prints out the contents of the object.</span>
<a name="l00095"></a>00095 <span class="comment"> */</span>
<a name="l00096"></a>00096 <span class="keywordtype">void</span> debugPrintOut();
<a name="l00097"></a>00097 <span class="comment"></span>
<a name="l00098"></a>00098 <span class="comment"> /** A general method to retrieve the sensor pose on the robot.</span>
<a name="l00099"></a>00099 <span class="comment"> * Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.</span>
<a name="l00100"></a>00100 <span class="comment"> * \sa setSensorPose</span>
<a name="l00101"></a>00101 <span class="comment"> */</span>
<a name="l00102"></a>00102 <span class="keywordtype">void</span> getSensorPose( <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &out_sensorPose ) <span class="keyword">const</span>;
<a name="l00103"></a>00103
<a name="l00104"></a>00104 <span class="comment"></span>
<a name="l00105"></a>00105 <span class="comment"> /** A general method to change the sensor pose on the robot.</span>
<a name="l00106"></a>00106 <span class="comment"> * Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.</span>
<a name="l00107"></a>00107 <span class="comment"> * \sa getSensorPose</span>
<a name="l00108"></a>00108 <span class="comment"> */</span>
<a name="l00109"></a>00109 <span class="keywordtype">void</span> setSensorPose( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a> &newSensorPose );
<a name="l00110"></a>00110 <span class="comment"></span>
<a name="l00111"></a>00111 <span class="comment"> /** Easy look-up into the vector sensedData, returns the range for a given beacon, or 0 if the beacon is not observed.</span>
<a name="l00112"></a>00112 <span class="comment"> */</span>
<a name="l00113"></a>00113 <span class="keywordtype">float</span> getSensedRangeByBeaconID(int32_t beaconID);
<a name="l00114"></a>00114
<a name="l00115"></a>00115 }; <span class="comment">// End of class def.</span>
<a name="l00116"></a>00116
<a name="l00117"></a>00117
<a name="l00118"></a>00118 } <span class="comment">// End of namespace</span>
<a name="l00119"></a>00119 } <span class="comment">// End of namespace</span>
<a name="l00120"></a>00120
<a name="l00121"></a>00121 <span class="preprocessor">#endif</span>
</pre></div></div>
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