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<div class="title">CObservationBearingRange.h</div> </div>
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<a href="_c_observation_bearing_range_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 CObservationBearingRange_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CObservationBearingRange_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_pose3_d_8h.html">mrpt/poses/CPose3D.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="keyword">namespace </span>mrpt
<a name="l00036"></a>00036 {
<a name="l00037"></a>00037 <span class="keyword">namespace </span>slam
<a name="l00038"></a>00038 {
<a name="l00039"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_bearing_range_ptr.html#a1b61ff21bded80da33e28b7d6752a9d8">00039</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_bearing_range.html" title="This observation represents a number of range-bearing value pairs, each one for a detected landmark...">CObservationBearingRange</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="l00040"></a>00040
<a name="l00041"></a>00041 <span class="comment">/** This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs.</span>
<a name="l00042"></a>00042 <span class="comment"> * This class can manage sensors that detect landmarks in a 2D plane (e.g. a laser scanner) or in the 3D space (e.g. a camera). There are</span>
<a name="l00043"></a>00043 <span class="comment"> * two direction angles: yaw (azimuth) and pitch (negative elevation). For 2D sensors, the pitch must be always set to 0.</span>
<a name="l00044"></a>00044 <span class="comment"> * See CObservationBearingRange::validCovariances for the instructions to fill the uncertainty covariances.</span>
<a name="l00045"></a>00045 <span class="comment"> * \sa CObservation</span>
<a name="l00046"></a>00046 <span class="comment"> * \ingroup mrpt_obs_grp</span>
<a name="l00047"></a>00047 <span class="comment"> */</span>
<a name="l00048"></a>00048 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_bearing_range.html" title="This observation represents a number of range-bearing value pairs, each one for a detected landmark...">CObservationBearingRange</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="l00049"></a>00049 {
<a name="l00050"></a>00050 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00051"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html#adb9760a6450c5a5e0ccad270067f09d1">00051</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_bearing_range.html" title="This observation represents a number of range-bearing value pairs, each one for a detected landmark...">CObservationBearingRange</a> )
<a name="l00052"></a>00052
<a name="l00053"></a>00053 public:<span class="comment"></span>
<a name="l00054"></a>00054 <span class="comment"> /** Default constructor.</span>
<a name="l00055"></a>00055 <span class="comment"> */</span>
<a name="l00056"></a>00056 <a class="code" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html" title="This observation represents a number of range-bearing value pairs, each one for a detected landmark...">CObservationBearingRange</a>( );
<a name="l00057"></a>00057
<a name="l00058"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html#a9f2db5f9d5dd1369abec2f2a78c5cf46">00058</a> <span class="keywordtype">float</span> minSensorDistance, maxSensorDistance; <span class="comment">//! Information about the sensor: Ranges, in meters (0: there is no limits)</span>
<a name="l00059"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html#a85899adf854e29b20ceb909333b28d8c">00059</a> <span class="comment"></span> <span class="keywordtype">float</span> fieldOfView_yaw; <span class="comment">//!< Information about the sensor: The "field-of-view" of the sensor, in radians (for yaw ).</span>
<a name="l00060"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html#ad7e0b1fcf358f12bdf4e84fe806b4dfb">00060</a> <span class="comment"></span> <span class="keywordtype">float</span> fieldOfView_pitch; <span class="comment">//!< Information about the sensor: The "field-of-view" of the sensor, in radians (for pitch ).</span>
<a name="l00061"></a>00061 <span class="comment"></span><span class="comment"></span>
<a name="l00062"></a>00062 <span class="comment"> /** The position of the sensor on the robot.</span>
<a name="l00063"></a>00063 <span class="comment"> */</span>
<a name="l00064"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html#aee047452b7abcc4ce7ce990a28db516f">00064</a> <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> sensorLocationOnRobot;
<a name="l00065"></a>00065 <span class="comment"></span>
<a name="l00066"></a>00066 <span class="comment"> /** Each one of the measurements:</span>
<a name="l00067"></a>00067 <span class="comment"> */</span>
<a name="l00068"></a>00068 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_bearing_range_1_1_t_measurement.html" title="Each one of the measurements:">TMeasurement</a>
<a name="l00069"></a>00069 {<span class="comment"></span>
<a name="l00070"></a>00070 <span class="comment"> /** The sensed landmark distance, in meters. */</span>
<a name="l00071"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_bearing_range_1_1_t_measurement.html#a0632980203e53645c04000f8d393ff02">00071</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_bearing_range_1_1_t_measurement.html#a0632980203e53645c04000f8d393ff02" title="The sensed landmark distance, in meters.">range</a>;
<a name="l00072"></a>00072 <span class="comment"></span>
<a name="l00073"></a>00073 <span class="comment"> /** The sensed landmark direction, in radians, measured as the yaw (azimuth) and pitch (negative elevation).</span>
<a name="l00074"></a>00074 <span class="comment"> * Set pitch to zero for 2D sensors.</span>
<a name="l00075"></a>00075 <span class="comment"> * See mrpt::poses::CPose3D for a definition of the 3D angles.</span>
<a name="l00076"></a>00076 <span class="comment"> */</span>
<a name="l00077"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_bearing_range_1_1_t_measurement.html#a585057c690a00acb4521b680a84d4977">00077</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_bearing_range_1_1_t_measurement.html#a585057c690a00acb4521b680a84d4977" title="The sensed landmark direction, in radians, measured as the yaw (azimuth) and pitch (negative elevatio...">yaw</a>,pitch;
<a name="l00078"></a>00078 <span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /** The ID of the sensed beacon, or INVALID_LANDMARK_ID (-1) if the sensor does not identify the landmark. */</span>
<a name="l00080"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_bearing_range_1_1_t_measurement.html#ad8a58ea98e8838b64d525fec009dc8f7">00080</a> int32_t <a class="code" href="structmrpt_1_1slam_1_1_c_observation_bearing_range_1_1_t_measurement.html#ad8a58ea98e8838b64d525fec009dc8f7" title="The ID of the sensed beacon, or INVALID_LANDMARK_ID (-1) if the sensor does not identify the landmark...">landmarkID</a>;
<a name="l00081"></a>00081 <span class="comment"></span>
<a name="l00082"></a>00082 <span class="comment"> /** The covariance matrix of the landmark, with variable indices [0,1,2] being [range,yaw,pitch]. */</span>
<a name="l00083"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_bearing_range_1_1_t_measurement.html#a7d62df9883edf434f05dc5eb2f16b56e">00083</a> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble33</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_bearing_range_1_1_t_measurement.html#a7d62df9883edf434f05dc5eb2f16b56e" title="The covariance matrix of the landmark, with variable indices [0,1,2] being [range,yaw,pitch].">covariance</a>;
<a name="l00084"></a>00084 };
<a name="l00085"></a>00085
<a name="l00086"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html#a2e5d1c19aa0a93ca6dcdea410e32bbca">00086</a> <span class="keyword">typedef</span> std<a class="code" href="classstd_1_1vector.html">::vector<TMeasurement></a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html#a2e5d1c19aa0a93ca6dcdea410e32bbca">TMeasurementList</a>;
<a name="l00087"></a>00087 <span class="comment"></span>
<a name="l00088"></a>00088 <span class="comment"> /** The list of observed ranges: */</span>
<a name="l00089"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html#a99143e9b58d69f1ba2f51be7fe4b79c1">00089</a> TMeasurementList <a class="code" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html#a99143e9b58d69f1ba2f51be7fe4b79c1" title="The list of observed ranges:">sensedData</a>;
<a name="l00090"></a>00090 <span class="comment"></span>
<a name="l00091"></a>00091 <span class="comment"> /** True: The individual 3x3 covariance matrices must be taken into account, false (default): All the measurements have identical, diagonal 3x3 covariance matrices given by the values sensor_std_range,sensor_std_yaw,sensor_std_pitch.</span>
<a name="l00092"></a>00092 <span class="comment"> */</span>
<a name="l00093"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html#aa04b4729509318c0774a74081f48e7f1">00093</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html#aa04b4729509318c0774a74081f48e7f1" title="True: The individual 3x3 covariance matrices must be taken into account, false (default): All the mea...">validCovariances</a>;
<a name="l00094"></a>00094 <span class="comment"></span>
<a name="l00095"></a>00095 <span class="comment"> /** Taken into account only if validCovariances=false: the standard deviation of the sensor noise model for range,yaw and pitch (in meters and radians).</span>
<a name="l00096"></a>00096 <span class="comment"> * If validCovariances=true, these 3 values are ignored and the individual 3x3 covariance matrices contain the actual uncertainties for each of the detected landmarks.</span>
<a name="l00097"></a>00097 <span class="comment"> */</span>
<a name="l00098"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html#acbd0e419c625f043a1e6c532564ff3cc">00098</a> <span class="keywordtype">float</span> sensor_std_range,<a class="code" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html#acbd0e419c625f043a1e6c532564ff3cc">sensor_std_yaw</a>,sensor_std_pitch;
<a name="l00099"></a>00099 <span class="comment"></span>
<a name="l00100"></a>00100 <span class="comment"> /** Prints out the contents of the object.</span>
<a name="l00101"></a>00101 <span class="comment"> */</span>
<a name="l00102"></a>00102 <span class="keywordtype">void</span> debugPrintOut();
<a name="l00103"></a>00103 <span class="comment"></span>
<a name="l00104"></a>00104 <span class="comment"> /** A general method to retrieve the sensor pose on the robot.</span>
<a name="l00105"></a>00105 <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="l00106"></a>00106 <span class="comment"> * \sa setSensorPose</span>
<a name="l00107"></a>00107 <span class="comment"> */</span>
<a name="l00108"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html#a006e2d21abe261ee104c3cc4a9a2ee8c">00108</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html#a006e2d21abe261ee104c3cc4a9a2ee8c" title="A general method to retrieve the sensor pose on the robot.">getSensorPose</a>( <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>{ out_sensorPose = sensorLocationOnRobot; }
<a name="l00109"></a>00109
<a name="l00110"></a>00110 <span class="comment"></span>
<a name="l00111"></a>00111 <span class="comment"> /** A general method to change the sensor pose on the robot.</span>
<a name="l00112"></a>00112 <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="l00113"></a>00113 <span class="comment"> * \sa getSensorPose</span>
<a name="l00114"></a>00114 <span class="comment"> */</span>
<a name="l00115"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html#a98ab0184db67397bb5ecc38afdc34162">00115</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html#a98ab0184db67397bb5ecc38afdc34162" title="A general method to change the sensor pose on the robot.">setSensorPose</a>( <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 ) { sensorLocationOnRobot = newSensorPose; }
<a name="l00116"></a>00116
<a name="l00117"></a>00117
<a name="l00118"></a>00118 }; <span class="comment">// End of class def.</span>
<a name="l00119"></a>00119
<a name="l00120"></a>00120
<a name="l00121"></a>00121 } <span class="comment">// End of namespace</span>
<a name="l00122"></a>00122 } <span class="comment">// End of namespace</span>
<a name="l00123"></a>00123
<a name="l00124"></a>00124 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
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