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<div class="title">CObservationVisualLandmarks.h</div> </div>
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<a href="_c_observation_visual_landmarks_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 CObservationVisualLandmarks_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CObservationVisualLandmarks_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 <span class="preprocessor">#include <<a class="code" href="_c_landmarks_map_8h.html">mrpt/slam/CLandmarksMap.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_visual_landmarks_ptr.html#a2931eda2b6e3ab4f3292b819c4b64c19">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_visual_landmarks.html" title="Declares a class derived from "CObservation" that stores a Landmarks Map as seen from a stereo camera...">CObservationVisualLandmarks</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="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> )
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="comment">/** Declares a class derived from "CObservation" that stores a Landmarks Map as seen from a stereo camera at a given instant of time.</span>
<a name="l00044"></a>00044 <span class="comment"> *</span>
<a name="l00045"></a>00045 <span class="comment"> * \sa CLandmarksMap, CObservation</span>
<a name="l00046"></a>00046 <span class="comment"> * \ingroup mrpt_vision_grp</span>
<a name="l00047"></a>00047 <span class="comment"> */</span>
<a name="l00048"></a>00048 class <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_visual_landmarks.html" title="Declares a class derived from "CObservation" that stores a Landmarks Map as seen from a stereo camera...">CObservationVisualLandmarks</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_visual_landmarks.html#af58be5df8a8db8623f670b72de773ca0">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_visual_landmarks.html" title="Declares a class derived from "CObservation" that stores a Landmarks Map as seen from a stereo camera...">CObservationVisualLandmarks</a> )
<a name="l00052"></a>00052
<a name="l00053"></a>00053 public:<span class="comment"></span>
<a name="l00054"></a>00054 <span class="comment"> /** 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_visual_landmarks.html" title="Declares a class derived from "CObservation" that stores a Landmarks Map as seen from a stereo camera...">CObservationVisualLandmarks</a>( );
<a name="l00057"></a>00057 <span class="comment"></span>
<a name="l00058"></a>00058 <span class="comment"> /** The 3D pose of the reference camera relative to robot coordinates.</span>
<a name="l00059"></a>00059 <span class="comment"> */</span>
<a name="l00060"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_visual_landmarks.html#a85b283058a29e1ac355eb70a2d95f9e0">00060</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> refCameraPose;
<a name="l00061"></a>00061 <span class="comment"></span>
<a name="l00062"></a>00062 <span class="comment"> /** The landmarks, with coordinates origin in the camera reference system.</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_visual_landmarks.html#aaae77d5063172196c97e56ef838a8839">00064</a> <a class="code" href="classmrpt_1_1slam_1_1_c_landmarks_map.html" title="A class for storing a map of 3D probabilistic landmarks.">CLandmarksMap</a> landmarks;
<a name="l00065"></a>00065 <span class="comment"></span>
<a name="l00066"></a>00066 <span class="comment"> /** Implements the virtual method in charge of finding the likelihood between this</span>
<a name="l00067"></a>00067 <span class="comment"> * and another observation, probably only of the same derived class. The operator</span>
<a name="l00068"></a>00068 <span class="comment"> * may be asymmetric.</span>
<a name="l00069"></a>00069 <span class="comment"> *</span>
<a name="l00070"></a>00070 <span class="comment"> * \param anotherObs The other observation to compute likelihood with.</span>
<a name="l00071"></a>00071 <span class="comment"> * \param 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.</span>
<a name="l00072"></a>00072 <span class="comment"> *</span>
<a name="l00073"></a>00073 <span class="comment"> * \return Returns a likelihood measurement, in the range [0,1].</span>
<a name="l00074"></a>00074 <span class="comment"> * \exception std::exception On any error, as another observation being of an invalid class.</span>
<a name="l00075"></a>00075 <span class="comment"> */</span>
<a name="l00076"></a>00076 <span class="keywordtype">float</span> likelihoodWith( const CObservation *anotherObs, const <a class="code" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html" title="Declares a class that represents a probability density function (pdf) of a 2D pose (x...">CPosePDF</a> *anotherObsPose = NULL ) const;
<a name="l00077"></a>00077 <span class="comment"></span>
<a name="l00078"></a>00078 <span class="comment"> /** A general method to retrieve the sensor pose on the robot.</span>
<a name="l00079"></a>00079 <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="l00080"></a>00080 <span class="comment"> * \sa setSensorPose</span>
<a name="l00081"></a>00081 <span class="comment"> */</span>
<a name="l00082"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_visual_landmarks.html#a1f93a9716e3dec212e60104e6f0c72a2">00082</a> <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>{ out_sensorPose = refCameraPose; }
<a name="l00083"></a>00083
<a name="l00084"></a>00084 <span class="comment"></span>
<a name="l00085"></a>00085 <span class="comment"> /** A general method to change the sensor pose on the robot.</span>
<a name="l00086"></a>00086 <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="l00087"></a>00087 <span class="comment"> * \sa getSensorPose</span>
<a name="l00088"></a>00088 <span class="comment"> */</span>
<a name="l00089"></a><a class="code" href="classmrpt_1_1slam_1_1_c_observation_visual_landmarks.html#a36b96b0b33e6650569028d63befc6b93">00089</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_visual_landmarks.html#a36b96b0b33e6650569028d63befc6b93" 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 ) { refCameraPose = newSensorPose; }
<a name="l00090"></a>00090
<a name="l00091"></a>00091
<a name="l00092"></a>00092 }; <span class="comment">// End of class def.</span>
<a name="l00093"></a>00093
<a name="l00094"></a>00094
<a name="l00095"></a>00095 } <span class="comment">// End of namespace</span>
<a name="l00096"></a>00096 } <span class="comment">// End of namespace</span>
<a name="l00097"></a>00097
<a name="l00098"></a>00098 <span class="preprocessor">#endif</span>
</pre></div></div>
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