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<div class="title">CObservationRange.h</div> </div>
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<a href="_c_observation_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 CObservationRange_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CObservationRange_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 <span class="preprocessor">#include <<a class="code" href="_c_pose2_d_8h.html">mrpt/poses/CPose2D.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="keyword">namespace </span>mrpt
<a name="l00037"></a>00037 {
<a name="l00038"></a>00038 <span class="keyword">namespace </span>slam
<a name="l00039"></a>00039 {
<a name="l00040"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_range_ptr.html#a7f77e581b0adcd72dd163ebf49e171a6">00040</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_range.html" title="Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters.">CObservationRange</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="l00041"></a>00041
<a name="l00042"></a>00042 <span class="comment">/** Declares a class derived from "CObservation" that</span>
<a name="l00043"></a>00043 <span class="comment"> encapsules a single range measurement, and associated parameters. This can be used</span>
<a name="l00044"></a>00044 <span class="comment"> * for example to store measurements from infrared proximity sensors (IR) or ultrasonic sensors (sonars).</span>
<a name="l00045"></a>00045 <span class="comment"> *</span>
<a name="l00046"></a>00046 <span class="comment"> * \sa CObservation</span>
<a name="l00047"></a>00047 <span class="comment"> * \ingroup mrpt_obs_grp</span>
<a name="l00048"></a>00048 <span class="comment"> */</span>
<a name="l00049"></a>00049 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_range.html" title="Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters.">CObservationRange</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="l00050"></a>00050 {
<a name="l00051"></a>00051 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00052"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_range.html#aee16246def7c2d0853af64c379061dc4">00052</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_range.html" title="Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters.">CObservationRange</a> )
<a name="l00053"></a>00053
<a name="l00054"></a>00054 public:<span class="comment"></span>
<a name="l00055"></a>00055 <span class="comment"> /** Default constructor.</span>
<a name="l00056"></a>00056 <span class="comment"> */</span>
<a name="l00057"></a>00057 <a class="code" href="classmrpt_1_1slam_1_1_c_observation_range.html" title="Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters.">CObservationRange</a>( );
<a name="l00058"></a>00058 <span class="comment"></span>
<a name="l00059"></a>00059 <span class="comment"> /** The data members</span>
<a name="l00060"></a>00060 <span class="comment"> */</span>
<a name="l00061"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_range.html#acd01d6e60988f3306b02a305823e2198">00061</a> <span class="keywordtype">float</span> minSensorDistance;
<a name="l00062"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_range.html#af77393bf989c622b1e9f45ffd5a4ff1f">00062</a> <span class="keywordtype">float</span> maxSensorDistance;
<a name="l00063"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_range.html#a6c7cba32740d3e7178c76f33e9a8a5d9">00063</a> <span class="keywordtype">float</span> sensorConeApperture; <span class="comment">//!< Cone aperture of each ultrasonic beam, in radians.</span>
<a name="l00064"></a>00064 <span class="comment"></span>
<a name="l00065"></a>00065 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_range_1_1_t_measurement.html">TMeasurement</a>
<a name="l00066"></a>00066 {
<a name="l00067"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_range_1_1_t_measurement.html#ad1e6eb367580692c809034b4f218fe3a">00067</a> TMeasurement() : sensorID(0), sensorPose(), sensedDistance(0)
<a name="l00068"></a>00068 {}
<a name="l00069"></a>00069 <span class="comment"></span>
<a name="l00070"></a>00070 <span class="comment"> /** Some kind of sensor ID which identifies it on the bus (if applicable, 0 otherwise)</span>
<a name="l00071"></a>00071 <span class="comment"> */</span>
<a name="l00072"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_range_1_1_t_measurement.html#ad4385967a2b160b01000de0b91c40452">00072</a> uint16_t <a class="code" href="structmrpt_1_1slam_1_1_c_observation_range_1_1_t_measurement.html#ad4385967a2b160b01000de0b91c40452" title="Some kind of sensor ID which identifies it on the bus (if applicable, 0 otherwise)">sensorID</a>;
<a name="l00073"></a>00073 <span class="comment"></span>
<a name="l00074"></a>00074 <span class="comment"> /** The 6D position of the sensor on the robot.</span>
<a name="l00075"></a>00075 <span class="comment"> */</span>
<a name="l00076"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_range_1_1_t_measurement.html#a8413529007dcbfa089ec9f19c29d41be">00076</a> math<a class="code" href="structmrpt_1_1math_1_1_t_pose3_d.html" title="Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).">::TPose3D</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_range_1_1_t_measurement.html#a8413529007dcbfa089ec9f19c29d41be" title="The 6D position of the sensor on the robot.">sensorPose</a>;
<a name="l00077"></a>00077 <span class="comment"></span>
<a name="l00078"></a>00078 <span class="comment"> /** The measured range, in meters (or a value of 0 if there was no detected echo).</span>
<a name="l00079"></a>00079 <span class="comment"> */</span>
<a name="l00080"></a><a class="code" href="structmrpt_1_1slam_1_1_c_observation_range_1_1_t_measurement.html#ade1a029c6fb8ce47c1a9fded92a04180">00080</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_range_1_1_t_measurement.html#ade1a029c6fb8ce47c1a9fded92a04180" title="The measured range, in meters (or a value of 0 if there was no detected echo).">sensedDistance</a>;
<a name="l00081"></a>00081 };
<a name="l00082"></a>00082
<a name="l00083"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_range.html#a0bcec60ac38f0cb1b37f62013eee4e6f">00083</a> <span class="keyword">typedef</span> std<a class="code" href="classstd_1_1deque.html">::deque<TMeasurement></a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_range.html#a0bcec60ac38f0cb1b37f62013eee4e6f">TMeasurementList</a>;
<a name="l00084"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_range.html#ad81566a44b00c0fccb203a8617926e5a">00084</a> <span class="keyword">typedef</span> std<a class="code" href="classstd_1_1deque_1_1const__iterator.html" title="STL iterator class.">::deque<TMeasurement>::const_iterator</a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_range.html#ad81566a44b00c0fccb203a8617926e5a">const_iterator</a>;
<a name="l00085"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_range.html#a822c48ba3dce6a76c6e08f01bfdca368">00085</a> <span class="keyword">typedef</span> std<a class="code" href="classstd_1_1deque_1_1iterator.html" title="STL iterator class.">::deque<TMeasurement>::iterator</a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_range.html#a822c48ba3dce6a76c6e08f01bfdca368">iterator</a>;
<a name="l00086"></a>00086
<a name="l00087"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_range.html#a29264eacdd278389bebbd0f5223f9ab1">00087</a> TMeasurementList <a class="code" href="classmrpt_1_1slam_1_1_c_observation_range.html#a29264eacdd278389bebbd0f5223f9ab1" title="All the measurements.">sensedData</a>; <span class="comment">//!< All the measurements</span>
<a name="l00088"></a>00088 <span class="comment"></span>
<a name="l00089"></a>00089
<a name="l00090"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_range.html#a0f5079845cc1462b9b23b30ce68f72a4">00090</a> iterator <a class="code" href="classmrpt_1_1slam_1_1_c_observation_range.html#a0f5079845cc1462b9b23b30ce68f72a4">begin</a>() { <span class="keywordflow">return</span> sensedData.begin(); }
<a name="l00091"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_range.html#a651c04da949992e7354d46a6e8c2e76c">00091</a> iterator <a class="code" href="classmrpt_1_1slam_1_1_c_observation_range.html#a651c04da949992e7354d46a6e8c2e76c">end</a>() { <span class="keywordflow">return</span> sensedData.end(); }
<a name="l00092"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_range.html#adfa5ac5fb0252e3176d50fff9df10a47">00092</a> const_iterator <a class="code" href="classmrpt_1_1slam_1_1_c_observation_range.html#adfa5ac5fb0252e3176d50fff9df10a47">begin</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> sensedData.begin(); }
<a name="l00093"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_range.html#a9cddace2a3ac3bac31f8acc9722bad18">00093</a> const_iterator <a class="code" href="classmrpt_1_1slam_1_1_c_observation_range.html#a9cddace2a3ac3bac31f8acc9722bad18">end</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> sensedData.end(); }
<a name="l00094"></a>00094 <span class="comment"></span>
<a name="l00095"></a>00095 <span class="comment"> /** A general method to retrieve the sensor pose on the robot.</span>
<a name="l00096"></a>00096 <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="l00097"></a>00097 <span class="comment"> * \sa setSensorPose</span>
<a name="l00098"></a>00098 <span class="comment"> */</span>
<a name="l00099"></a>00099 <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="l00100"></a>00100
<a name="l00101"></a>00101 <span class="comment"></span>
<a name="l00102"></a>00102 <span class="comment"> /** A general method to change the sensor pose on the robot.</span>
<a name="l00103"></a>00103 <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="l00104"></a>00104 <span class="comment"> * \sa getSensorPose</span>
<a name="l00105"></a>00105 <span class="comment"> */</span>
<a name="l00106"></a>00106 <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="l00107"></a>00107
<a name="l00108"></a>00108
<a name="l00109"></a>00109 }; <span class="comment">// End of class def.</span>
<a name="l00110"></a>00110
<a name="l00111"></a>00111
<a name="l00112"></a>00112 } <span class="comment">// End of namespace</span>
<a name="l00113"></a>00113 } <span class="comment">// End of namespace</span>
<a name="l00114"></a>00114
<a name="l00115"></a>00115 <span class="preprocessor">#endif</span>
</pre></div></div>
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