<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> <html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"> <title>CSensoryFrame.h Source File</title> <link href="doxygen.css" rel="stylesheet" type="text/css"> <link href="tabs.css" rel="stylesheet" type="text/css"> </head><body> <div align="left"><a href="http://www.mrpt.org/">Main MRPT website</a> > <b>C++ reference</b> </div> <div align="right"> <a href="index.html"><img border="0" src="mrpt_logo.png" alt="MRPT logo"></a> </div> <!-- Generated by Doxygen 1.7.5 --> <script type="text/javascript"> var searchBox = new SearchBox("searchBox", "search",false,'Search'); </script> <div id="navrow1" class="tabs"> <ul class="tablist"> <li><a href="index.html"><span>Main Page</span></a></li> <li><a href="pages.html"><span>Related Pages</span></a></li> <li><a href="modules.html"><span>Modules</span></a></li> <li><a href="namespaces.html"><span>Namespaces</span></a></li> <li><a href="annotated.html"><span>Classes</span></a></li> <li class="current"><a href="files.html"><span>Files</span></a></li> <li> <div id="MSearchBox" class="MSearchBoxInactive"> <div class="left"> <form id="FSearchBox" action="search.php" method="get"> <img id="MSearchSelect" src="search/mag.png" alt=""/> <input type="text" id="MSearchField" name="query" value="Search" size="20" accesskey="S" onfocus="searchBox.OnSearchFieldFocus(true)" onblur="searchBox.OnSearchFieldFocus(false)"/> </form> </div><div class="right"></div> </div> </li> </ul> </div> <div id="navrow2" class="tabs2"> <ul class="tablist"> <li><a href="files.html"><span>File List</span></a></li> <li><a href="globals.html"><span>File Members</span></a></li> </ul> </div> <div class="header"> <div class="headertitle"> <div class="title">CSensoryFrame.h</div> </div> </div> <div class="contents"> <a href="_c_sensory_frame_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 CSENSORYFRAME_H</span> <a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CSENSORYFRAME_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_observation_8h.html">mrpt/slam/CObservation.h</a>></span> <a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_serializable_8h.html">mrpt/utils/CSerializable.h</a>></span> <a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_observation2_d_range_scan_8h.html">mrpt/slam/CObservation2DRangeScan.h</a>></span> <a name="l00034"></a>00034 <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>00040 <span class="keyword">class </span>CMetricMap; <a name="l00041"></a>00041 <a name="l00042"></a>00042 <span class="comment">// This must be added to any CSerializable derived class:</span> <a name="l00043"></a><a class="code" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html#ac0751c478be607905d8d04a6a73e808d">00043</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_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...">CSensoryFrame</a>, <a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">mrpt::utils::CSerializable</a>, <a class="code" href="obs_2include_2mrpt_2obs_2link__pragmas_8h.html#ae8bb1b2647c58d6ae2eb30ca31fcf5a1">OBS_IMPEXP</a> ) <a name="l00044"></a>00044 <a name="l00045"></a>00045 <span class="comment">/** Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximately at the same time as one "snapshot" of the environment.</span> <a name="l00046"></a>00046 <span class="comment"> * It can contain "observations" of many different kinds.</span> <a name="l00047"></a>00047 <span class="comment"> *</span> <a name="l00048"></a>00048 <span class="comment"> * New observations can be added using:</span> <a name="l00049"></a>00049 <span class="comment"> *</span> <a name="l00050"></a>00050 <span class="comment"> * \code</span> <a name="l00051"></a>00051 <span class="comment"> * CObservationXXXPtr o = CObservationXXX::Create(); // Create a smart pointer containing an object of class "CObservationXXX"</span> <a name="l00052"></a>00052 <span class="comment"> * o->(...)</span> <a name="l00053"></a>00053 <span class="comment"> *</span> <a name="l00054"></a>00054 <span class="comment"> * CSensoryFrame sf;</span> <a name="l00055"></a>00055 <span class="comment"> * sf.insert(o);</span> <a name="l00056"></a>00056 <span class="comment"> * \endcode</span> <a name="l00057"></a>00057 <span class="comment"> *</span> <a name="l00058"></a>00058 <span class="comment"> * The following methods are equivalent for adding new observations to a "sensory frame":</span> <a name="l00059"></a>00059 <span class="comment"> * - CSensoryFrame::operator +=</span> <a name="l00060"></a>00060 <span class="comment"> * - CSensoryFrame::push_back</span> <a name="l00061"></a>00061 <span class="comment"> * - CSensoryFrame::insert</span> <a name="l00062"></a>00062 <span class="comment"> *</span> <a name="l00063"></a>00063 <span class="comment"> * To examine the objects within a sensory frame, the following methods exist:</span> <a name="l00064"></a>00064 <span class="comment"> * - CSensoryFrame::getObservationByClass : Looks for some specific observation class.</span> <a name="l00065"></a>00065 <span class="comment"> * - CSensoryFrame::begin : To iterate over all observations.</span> <a name="l00066"></a>00066 <span class="comment"> * - CSensoryFrame::getObservationByIndex : To query by index.</span> <a name="l00067"></a>00067 <span class="comment"> *</span> <a name="l00068"></a>00068 <span class="comment"> * Notice that contained observations objects are automatically deleted on</span> <a name="l00069"></a>00069 <span class="comment"> * this object's destruction or clear.</span> <a name="l00070"></a>00070 <span class="comment"> * \sa CObservation</span> <a name="l00071"></a>00071 <span class="comment"> * \ingroup mrpt_obs_grp</span> <a name="l00072"></a>00072 <span class="comment"> */</span> <a name="l00073"></a>00073 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_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...">CSensoryFrame</a> : public mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">CSerializable</a> <a name="l00074"></a>00074 { <a name="l00075"></a>00075 <span class="comment">// This must be added to any CSerializable derived class:</span> <a name="l00076"></a><a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#a8f12a010ccdbd4e0efc16dfc349bc611">00076</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_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...">CSensoryFrame</a> ) <a name="l00077"></a>00077 <a name="l00078"></a>00078 public:<span class="comment"></span> <a name="l00079"></a>00079 <span class="comment"> /** Default constructor</span> <a name="l00080"></a>00080 <span class="comment"> */</span> <a name="l00081"></a>00081 <a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...">CSensoryFrame</a>(); <a name="l00082"></a>00082 <span class="comment"></span> <a name="l00083"></a>00083 <span class="comment"> /** Copy constructor</span> <a name="l00084"></a>00084 <span class="comment"> */</span> <a name="l00085"></a>00085 CSensoryFrame( const CSensoryFrame &); <a name="l00086"></a>00086 <span class="comment"></span> <a name="l00087"></a>00087 <span class="comment"> /** @name Cached points map</span> <a name="l00088"></a>00088 <span class="comment"> @{ */</span> <a name="l00089"></a>00089 protected:<span class="comment"></span> <a name="l00090"></a>00090 <span class="comment"> /** A points map, build only under demand by the methods getAuxPointsMap() and buildAuxPointsMap().</span> <a name="l00091"></a>00091 <span class="comment"> * It's a generic smart pointer to avoid depending here in the library mrpt-obs on classes on other libraries.</span> <a name="l00092"></a>00092 <span class="comment"> */</span> <a name="l00093"></a><a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#a80618ebd77c11514cfd902bb0d750ccd">00093</a> mutable mrpt::slam::<a class="code" href="structmrpt_1_1slam_1_1_c_metric_map_ptr.html">CMetricMapPtr</a> m_cachedMap; <a name="l00094"></a>00094 <a name="l00095"></a>00095 <span class="keywordtype">void</span> internal_buildAuxPointsMap( const <span class="keywordtype">void</span> *options = NULL ) const; <span class="comment">//!< Internal method, used from buildAuxPointsMap()</span> <a name="l00096"></a>00096 <span class="comment"></span> <a name="l00097"></a>00097 public: <a name="l00098"></a>00098 <span class="comment"></span> <a name="l00099"></a>00099 <span class="comment"> /** Returns the cached points map representation of the scan, if already build with buildAuxPointsMap(), or NULL otherwise.</span> <a name="l00100"></a>00100 <span class="comment"> * Usage:</span> <a name="l00101"></a>00101 <span class="comment"> * \code</span> <a name="l00102"></a>00102 <span class="comment"> * mrpt::slam::CPointsMap *map = obs->getAuxPointsMap<mrpt::slam::CPointsMap>();</span> <a name="l00103"></a>00103 <span class="comment"> * \endcode</span> <a name="l00104"></a>00104 <span class="comment"> * \sa buildAuxPointsMap</span> <a name="l00105"></a>00105 <span class="comment"> */</span> <a name="l00106"></a>00106 template <class POINTSMAP> <a name="l00107"></a><a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#a7817fa9811ca0b1222b76b31bfa30280">00107</a> inline const POINTSMAP* getAuxPointsMap()<span class="keyword"> const </span>{ <a name="l00108"></a>00108 <span class="keywordflow">return</span> <span class="keyword">static_cast<</span>POINTSMAP*<span class="keyword">></span>(m_cachedMap.pointer()); <a name="l00109"></a>00109 } <a name="l00110"></a>00110 <span class="comment"></span> <a name="l00111"></a>00111 <span class="comment"> /** Returns a cached points map representing this laser scan, building it upon the first call.</span> <a name="l00112"></a>00112 <span class="comment"> * \param options Can be NULL to use default point maps' insertion options, or a pointer to a "CPointsMap::TInsertionOptions" structure to override some params.</span> <a name="l00113"></a>00113 <span class="comment"> * Usage:</span> <a name="l00114"></a>00114 <span class="comment"> * \code</span> <a name="l00115"></a>00115 <span class="comment"> * mrpt::slam::CPointsMap *map = sf->buildAuxPointsMap<mrpt::slam::CPointsMap>(&options or NULL);</span> <a name="l00116"></a>00116 <span class="comment"> * \endcode</span> <a name="l00117"></a>00117 <span class="comment"> * \sa getAuxPointsMap</span> <a name="l00118"></a>00118 <span class="comment"> */</span> <a name="l00119"></a>00119 <span class="keyword">template</span> <<span class="keyword">class</span> POINTSMAP> <a name="l00120"></a><a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#a2cc4649d69daa728393332b9ad8fa485">00120</a> <span class="keyword">inline</span> <span class="keyword">const</span> POINTSMAP *<a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#a2cc4649d69daa728393332b9ad8fa485" title="Returns a cached points map representing this laser scan, building it upon the first call...">buildAuxPointsMap</a>( <span class="keyword">const</span> <span class="keywordtype">void</span> *options = NULL )<span class="keyword"> const </span>{ <a name="l00121"></a>00121 internal_buildAuxPointsMap(options); <a name="l00122"></a>00122 <span class="keywordflow">return</span> <span class="keyword">static_cast<</span>POINTSMAP*<span class="keyword">></span>(m_cachedMap.pointer()); <a name="l00123"></a>00123 } <a name="l00124"></a>00124 <span class="comment"></span> <a name="l00125"></a>00125 <span class="comment"> /** @} */</span> <a name="l00126"></a>00126 <a name="l00127"></a>00127 <span class="comment"></span> <a name="l00128"></a>00128 <span class="comment"> /** Copy</span> <a name="l00129"></a>00129 <span class="comment"> */</span> <a name="l00130"></a>00130 <a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...">CSensoryFrame</a>& operator =( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...">CSensoryFrame</a> &o); <a name="l00131"></a>00131 <span class="comment"></span> <a name="l00132"></a>00132 <span class="comment"> /** Destructor.</span> <a name="l00133"></a>00133 <span class="comment"> */</span> <a name="l00134"></a>00134 <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...">CSensoryFrame</a>(); <a name="l00135"></a>00135 <span class="comment"></span> <a name="l00136"></a>00136 <span class="comment"> /** Clear all current observations.</span> <a name="l00137"></a>00137 <span class="comment"> */</span> <a name="l00138"></a>00138 <span class="keywordtype">void</span> clear(); <a name="l00139"></a>00139 <span class="comment"></span> <a name="l00140"></a>00140 <span class="comment"> /** Insert all the observations in this SF into a metric map or any kind (see mrpt::slam::CMetricMap).</span> <a name="l00141"></a>00141 <span class="comment"> * It calls CObservation::insertObservationInto for all stored observation.</span> <a name="l00142"></a>00142 <span class="comment"> * \param theMap The map where this observation is to be inserted: the map will be updated.</span> <a name="l00143"></a>00143 <span class="comment"> * \param robotPose The pose of the robot base for this observation, relative to the target metric map. Set to NULL (default) to use (0,0,0deg)</span> <a name="l00144"></a>00144 <span class="comment"> *</span> <a name="l00145"></a>00145 <span class="comment"> * \return Returns true if the map has been updated, or false if this observations</span> <a name="l00146"></a>00146 <span class="comment"> * has nothing to do with a metric map (for example, a sound observation).</span> <a name="l00147"></a>00147 <span class="comment"> *</span> <a name="l00148"></a>00148 <span class="comment"> * \sa mrpt::slam::CMetricMap, CObservation::insertObservationInto, CMetricMap::insertObservation</span> <a name="l00149"></a>00149 <span class="comment"> */</span> <a name="l00150"></a>00150 <span class="keywordtype">bool</span> insertObservationsInto( <a class="code" href="classmrpt_1_1slam_1_1_c_metric_map.html" title="Declares a virtual base class for all metric maps storage classes.">mrpt::slam::CMetricMap</a> *theMap, <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> *robotPose = NULL ) <span class="keyword">const</span>; <a name="l00151"></a>00151 <span class="comment"></span> <a name="l00152"></a>00152 <span class="comment"> /** Insert all the observations in this SF into a metric map or any kind (see mrpt::slam::CMetricMap).</span> <a name="l00153"></a>00153 <span class="comment"> * It calls CObservation::insertObservationInto for all stored observation.</span> <a name="l00154"></a>00154 <span class="comment"> * \param theMap The map where this observation is to be inserted: the map will be updated.</span> <a name="l00155"></a>00155 <span class="comment"> * \param robotPose The pose of the robot base for this observation, relative to the target metric map. Set to NULL (default) to use (0,0,0deg)</span> <a name="l00156"></a>00156 <span class="comment"> *</span> <a name="l00157"></a>00157 <span class="comment"> * \return Returns true if the map has been updated, or false if this observations</span> <a name="l00158"></a>00158 <span class="comment"> * has nothing to do with a metric map (for example, a sound observation).</span> <a name="l00159"></a>00159 <span class="comment"> *</span> <a name="l00160"></a>00160 <span class="comment"> * \sa mrpt::slam::CMetricMap, CObservation::insertObservationInto, CMetricMap::insertObservation</span> <a name="l00161"></a>00161 <span class="comment"> */</span> <a name="l00162"></a><a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#aaf0c0d9da5fe5e39c824b20ec2296c73">00162</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> insertObservationsInto( <a class="code" href="structmrpt_1_1slam_1_1_c_metric_map_ptr.html">mrpt::slam::CMetricMapPtr</a> &theMap, <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> *robotPose = NULL )<span class="keyword"> const</span> <a name="l00163"></a>00163 <span class="keyword"> </span>{ <a name="l00164"></a>00164 <span class="keywordflow">return</span> insertObservationsInto(theMap.<a class="code" href="structmrpt_1_1slam_1_1_c_metric_map_ptr.html#a9149aa6f73905ef1a0a38822a503a8cb">pointer</a>(), robotPose); <a name="l00165"></a>00165 } <a name="l00166"></a>00166 <a name="l00167"></a>00167 <span class="comment"></span> <a name="l00168"></a>00168 <span class="comment"> /** You can use "sf1+=sf2;" to add observations in sf2 to sf1. Objects are copied, not referenced, thus the source can be safely deleted next.</span> <a name="l00169"></a>00169 <span class="comment"> * \sa moveFrom</span> <a name="l00170"></a>00170 <span class="comment"> */</span> <a name="l00171"></a>00171 <span class="keywordtype">void</span> <a class="code" href="group__container__ops__grp.html#ga28127b8dfe78fea7644c4f2a3517cdef" title="a+=b (element-wise sum)">operator += </a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...">CSensoryFrame</a> &sf); <a name="l00172"></a>00172 <span class="comment"></span> <a name="l00173"></a>00173 <span class="comment"> /** You can use "sf+=obs;" to add the observation "obs" to the "sf1". Objects are copied, using the smart pointer, thus the original pointer can be safely deleted next.</span> <a name="l00174"></a>00174 <span class="comment"> * \sa moveFrom</span> <a name="l00175"></a>00175 <span class="comment"> */</span> <a name="l00176"></a>00176 <span class="keywordtype">void</span> <a class="code" href="group__container__ops__grp.html#ga28127b8dfe78fea7644c4f2a3517cdef" title="a+=b (element-wise sum)">operator += </a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_ptr.html">CObservationPtr</a> &obs); <a name="l00177"></a>00177 <span class="comment"></span> <a name="l00178"></a>00178 <span class="comment"> /** Copies all the observation from another object, then erase them from the origin object (this method is fast since only pointers are copied); Previous objects in this objects are not deleted.</span> <a name="l00179"></a>00179 <span class="comment"> * \sa operator +=</span> <a name="l00180"></a>00180 <span class="comment"> */</span> <a name="l00181"></a>00181 <span class="keywordtype">void</span> moveFrom(<a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...">CSensoryFrame</a> &sf); <a name="l00182"></a>00182 <span class="comment"></span> <a name="l00183"></a>00183 <span class="comment"> /** Inserts a new observation to the list: The pointer to the objects is copied, thus DO NOT delete the passed object, this class will do at destructor or when appropriate.</span> <a name="l00184"></a>00184 <span class="comment"> */</span> <a name="l00185"></a>00185 <span class="keywordtype">void</span> <a class="code" href="eigen__plugins_8h.html#a9d57842d20d6813ae39cc88859d6f3c8" title="Insert an element at the end of the container (for 1D vectors/arrays)">push_back</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_ptr.html">CObservationPtr</a> &obs); <a name="l00186"></a>00186 <span class="comment"></span> <a name="l00187"></a>00187 <span class="comment"> /** Inserts a new observation to the list: The pointer to the objects is copied, thus DO NOT delete the passed object, this class will do at destructor or when appropriate.</span> <a name="l00188"></a>00188 <span class="comment"> */</span> <a name="l00189"></a>00189 <span class="keywordtype">void</span> insert(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_ptr.html">CObservationPtr</a> &obs); <a name="l00190"></a>00190 <span class="comment"></span> <a name="l00191"></a>00191 <span class="comment"> /** Returns the i'th observation of a given class (or of a descendant class), or NULL if there is no such observation in the array.</span> <a name="l00192"></a>00192 <span class="comment"> * Example:</span> <a name="l00193"></a>00193 <span class="comment"> * \code</span> <a name="l00194"></a>00194 <span class="comment"> CObservationImagePtr obs = m_SF->getObservationByClass<CObservationImage>();</span> <a name="l00195"></a>00195 <span class="comment"> * \endcode</span> <a name="l00196"></a>00196 <span class="comment"> * By default (ith=0), the first observation is returned.</span> <a name="l00197"></a>00197 <span class="comment"> */</span> <a name="l00198"></a>00198 <span class="keyword">template</span> <<span class="keyword">typename</span> T> <a name="l00199"></a><a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#a96599e2c0b05404612fb54ebf833a45d">00199</a> <span class="keyword">typename</span> T<a class="code" href="structmrpt_1_1slam_1_1_c_sensory_frame_ptr.html">::SmartPtr</a> getObservationByClass( <span class="keyword">const</span> <span class="keywordtype">size_t</span> &ith = 0 )<span class="keyword"> const</span> <a name="l00200"></a>00200 <span class="keyword"> </span>{ <a name="l00201"></a>00201 <a class="code" href="mrpt__macros_8h.html#a45b840af519f33816311acdbb28d7c10">MRPT_START</a> <a name="l00202"></a>00202 <span class="keywordtype">size_t</span> foundCount = 0; <a name="l00203"></a>00203 <span class="keyword">const</span> mrpt<a class="code" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html" title="A structure that holds runtime class type information.">::utils::TRuntimeClassId</a>* class_ID = T::classinfo; <a name="l00204"></a>00204 <span class="keywordflow">for</span> (<a class="code" href="classstd_1_1deque_1_1const__iterator.html" title="STL iterator class.">const_iterator</a> it = <a class="code" href="eigen__plugins_8h.html#ab295fd8164bf1b1acecbcb29520d62b7">begin</a>();it!=<a class="code" href="eigen__plugins_8h.html#ade5b39864c905cbb824d0ff6eb0d888c">end</a>();++it) <a name="l00205"></a>00205 <span class="keywordflow">if</span> ( (*it)->GetRuntimeClass()->derivedFrom( class_ID ) ) <a name="l00206"></a>00206 <span class="keywordflow">if</span> (foundCount++ == ith) <a name="l00207"></a>00207 <span class="keywordflow">return</span> <span class="keyword">typename</span> T::SmartPtr(*it); <a name="l00208"></a>00208 <span class="keywordflow">return</span> <span class="keyword">typename</span> T::SmartPtr(); <span class="comment">// Not found: return empty smart pointer</span> <a name="l00209"></a>00209 <a class="code" href="mrpt__macros_8h.html#a88a917260793b56abd83ad2a0d849eb1">MRPT_END</a> <a name="l00210"></a>00210 } <a name="l00211"></a>00211 <span class="comment"></span> <a name="l00212"></a>00212 <span class="comment"> /** You can use CSensoryFrame::begin to get a iterator to the first element.</span> <a name="l00213"></a>00213 <span class="comment"> */</span> <a name="l00214"></a><a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#af7d697600b911c2885e29b657727b39b">00214</a> <span class="keyword">typedef</span> std<a class="code" href="classstd_1_1deque_1_1iterator.html" title="STL iterator class.">::deque<CObservationPtr>::iterator</a> <a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#af7d697600b911c2885e29b657727b39b" title="You can use CSensoryFrame::begin to get a iterator to the first element.">iterator</a>; <a name="l00215"></a>00215 <span class="comment"></span> <a name="l00216"></a>00216 <span class="comment"> /** You can use CSensoryFrame::begin to get a iterator to the first element.</span> <a name="l00217"></a>00217 <span class="comment"> */</span> <a name="l00218"></a><a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#a59fdf5b3cd0eb9bdeef4344cfac3b2e6">00218</a> <span class="keyword">typedef</span> std<a class="code" href="classstd_1_1deque_1_1const__iterator.html" title="STL iterator class.">::deque<CObservationPtr>::const_iterator</a> <a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#a59fdf5b3cd0eb9bdeef4344cfac3b2e6" title="You can use CSensoryFrame::begin to get a iterator to the first element.">const_iterator</a>; <a name="l00219"></a>00219 <span class="comment"></span> <a name="l00220"></a>00220 <span class="comment"> /** Returns a iterator to the first observation: this is an example of usage:</span> <a name="l00221"></a>00221 <span class="comment"> * \code</span> <a name="l00222"></a>00222 <span class="comment"> * CSensoryFrame sf;</span> <a name="l00223"></a>00223 <span class="comment"> * ...</span> <a name="l00224"></a>00224 <span class="comment"> * for (CSensoryFrame::iterator it=sf.begin();it!=sf.end();++it)</span> <a name="l00225"></a>00225 <span class="comment"> * {</span> <a name="l00226"></a>00226 <span class="comment"> * (*it)->... // (*it) is a "CObservation*"</span> <a name="l00227"></a>00227 <span class="comment"> * }</span> <a name="l00228"></a>00228 <span class="comment"> *</span> <a name="l00229"></a>00229 <span class="comment"> * \endcode</span> <a name="l00230"></a>00230 <span class="comment"> */</span> <a name="l00231"></a><a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#aa6b2cf1b2f99ad2b837ebb4da4f89c6a">00231</a> const_iterator <a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#aa6b2cf1b2f99ad2b837ebb4da4f89c6a" title="Returns a iterator to the first observation: this is an example of usage:">begin</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_observations.begin(); } <a name="l00232"></a>00232 <span class="comment"></span> <a name="l00233"></a>00233 <span class="comment"> /** Returns a iterator to the end of the list of observations: this is an example of usage:</span> <a name="l00234"></a>00234 <span class="comment"> * \code</span> <a name="l00235"></a>00235 <span class="comment"> * CSensoryFrame sf;</span> <a name="l00236"></a>00236 <span class="comment"> * ...</span> <a name="l00237"></a>00237 <span class="comment"> * for (CSensoryFrame::iterator it=sf.begin();it!=sf.end();++it)</span> <a name="l00238"></a>00238 <span class="comment"> * {</span> <a name="l00239"></a>00239 <span class="comment"> * (*it)->... // (*it) is a "CObservation*"</span> <a name="l00240"></a>00240 <span class="comment"> * }</span> <a name="l00241"></a>00241 <span class="comment"> *</span> <a name="l00242"></a>00242 <span class="comment"> * \endcode</span> <a name="l00243"></a>00243 <span class="comment"> */</span> <a name="l00244"></a><a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#ad3c27d167cd0aa30d758e5cab1ce3aa9">00244</a> const_iterator <a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#ad3c27d167cd0aa30d758e5cab1ce3aa9" title="Returns a iterator to the end of the list of observations: this is an example of usage:">end</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_observations.end(); } <a name="l00245"></a>00245 <span class="comment"></span> <a name="l00246"></a>00246 <span class="comment"> /** Returns a iterator to the first observation: this is an example of usage:</span> <a name="l00247"></a>00247 <span class="comment"> * \code</span> <a name="l00248"></a>00248 <span class="comment"> * CSensoryFrame sf;</span> <a name="l00249"></a>00249 <span class="comment"> * ...</span> <a name="l00250"></a>00250 <span class="comment"> * for (CSensoryFrame::iterator it=sf.begin();it!=sf.end();++it)</span> <a name="l00251"></a>00251 <span class="comment"> * {</span> <a name="l00252"></a>00252 <span class="comment"> * (*it)->... // (*it) is a "CObservation*"</span> <a name="l00253"></a>00253 <span class="comment"> * }</span> <a name="l00254"></a>00254 <span class="comment"> *</span> <a name="l00255"></a>00255 <span class="comment"> * \endcode</span> <a name="l00256"></a>00256 <span class="comment"> */</span> <a name="l00257"></a><a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#aa0f4e3ee1cec6211ac77e0a1978c4dbc">00257</a> iterator <a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#aa0f4e3ee1cec6211ac77e0a1978c4dbc" title="Returns a iterator to the first observation: this is an example of usage:">begin</a>() { <span class="keywordflow">return</span> m_observations.begin(); } <a name="l00258"></a>00258 <span class="comment"></span> <a name="l00259"></a>00259 <span class="comment"> /** Returns a iterator to the end of the list of observations: this is an example of usage:</span> <a name="l00260"></a>00260 <span class="comment"> * \code</span> <a name="l00261"></a>00261 <span class="comment"> * CSensoryFrame sf;</span> <a name="l00262"></a>00262 <span class="comment"> * ...</span> <a name="l00263"></a>00263 <span class="comment"> * for (CSensoryFrame::iterator it=sf.begin();it!=sf.end();++it)</span> <a name="l00264"></a>00264 <span class="comment"> * {</span> <a name="l00265"></a>00265 <span class="comment"> * (*it)->... // (*it) is a "CObservation*"</span> <a name="l00266"></a>00266 <span class="comment"> * }</span> <a name="l00267"></a>00267 <span class="comment"> *</span> <a name="l00268"></a>00268 <span class="comment"> * \endcode</span> <a name="l00269"></a>00269 <span class="comment"> */</span> <a name="l00270"></a><a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#a3085c2ffa66a84e3b722582fa3bfa2b7">00270</a> <span class="keyword">inline</span> iterator <a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#a3085c2ffa66a84e3b722582fa3bfa2b7" title="Returns a iterator to the end of the list of observations: this is an example of usage:">end</a>() { <span class="keywordflow">return</span> m_observations.end(); } <a name="l00271"></a>00271 <a name="l00272"></a>00272 <span class="comment"></span> <a name="l00273"></a>00273 <span class="comment"> /** Returns the number of observations in the list. */</span> <a name="l00274"></a><a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#a45c0aec3be92d5f596475e41365f7cad">00274</a> <span class="keyword">inline</span> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#a45c0aec3be92d5f596475e41365f7cad" title="Returns the number of observations in the list.">size</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_observations.size(); } <a name="l00275"></a>00275 <span class="comment"></span> <a name="l00276"></a>00276 <span class="comment"> /** Returns true if there are no observations in the list. */</span> <a name="l00277"></a><a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#adf9636e5ae90ecca2a52dc06381b604f">00277</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#adf9636e5ae90ecca2a52dc06381b604f" title="Returns true if there are no observations in the list.">empty</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_observations.empty(); } <a name="l00278"></a>00278 <span class="comment"></span> <a name="l00279"></a>00279 <span class="comment"> /** Removes the i'th observation in the list (0=first). */</span> <a name="l00280"></a>00280 <span class="keywordtype">void</span> eraseByIndex(<span class="keyword">const</span> <span class="keywordtype">size_t</span> &idx); <a name="l00281"></a>00281 <span class="comment"></span> <a name="l00282"></a>00282 <span class="comment"> /** Removes the given observation in the list, and return an iterator to the next element (or this->end() if it was the last one).</span> <a name="l00283"></a>00283 <span class="comment"> */</span> <a name="l00284"></a>00284 iterator erase( <span class="keyword">const</span> iterator &it); <a name="l00285"></a>00285 <span class="comment"></span> <a name="l00286"></a>00286 <span class="comment"> /** Removes all the observations that match a given sensorLabel.</span> <a name="l00287"></a>00287 <span class="comment"> */</span> <a name="l00288"></a>00288 <span class="keywordtype">void</span> eraseByLabel(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &label); <a name="l00289"></a>00289 <span class="comment"></span> <a name="l00290"></a>00290 <span class="comment"> /** Returns the i'th observation in the list (0=first).</span> <a name="l00291"></a>00291 <span class="comment"> * \sa begin, size</span> <a name="l00292"></a>00292 <span class="comment"> */</span> <a name="l00293"></a>00293 <a class="code" href="structmrpt_1_1slam_1_1_c_observation_ptr.html">CObservationPtr</a> getObservationByIndex( <span class="keyword">const</span> <span class="keywordtype">size_t</span> &idx ) <span class="keyword">const</span>; <a name="l00294"></a>00294 <span class="comment"></span> <a name="l00295"></a>00295 <span class="comment"> /** Returns the i'th observation in the list (0=first), and as a different smart pointer type:</span> <a name="l00296"></a>00296 <span class="comment"> * \code</span> <a name="l00297"></a>00297 <span class="comment"> * sf.getObservationByIndexAs<CObservationStereoImagesPtr>(i);</span> <a name="l00298"></a>00298 <span class="comment"> * \endcode</span> <a name="l00299"></a>00299 <span class="comment"> * \sa begin, size</span> <a name="l00300"></a>00300 <span class="comment"> */</span> <a name="l00301"></a>00301 <span class="keyword">template</span> <<span class="keyword">typename</span> T> <a name="l00302"></a><a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#ab70a8af37d468e680d63d125aff4f136">00302</a> T getObservationByIndexAs( <span class="keyword">const</span> <span class="keywordtype">size_t</span> &idx )<span class="keyword"> const</span> <a name="l00303"></a>00303 <span class="keyword"> </span>{ <a name="l00304"></a>00304 <span class="keywordflow">return</span> <span class="keyword">static_cast<</span>T<span class="keyword">></span>(getObservationByIndex(idx)); <a name="l00305"></a>00305 } <a name="l00306"></a>00306 <span class="comment"></span> <a name="l00307"></a>00307 <span class="comment"> /** Returns the i'th observation in the list with the given "sensorLabel" (0=first).</span> <a name="l00308"></a>00308 <span class="comment"> * \return The observation, or NULL if not found.</span> <a name="l00309"></a>00309 <span class="comment"> * \sa begin, size</span> <a name="l00310"></a>00310 <span class="comment"> */</span> <a name="l00311"></a>00311 <a class="code" href="structmrpt_1_1slam_1_1_c_observation_ptr.html">CObservationPtr</a> getObservationBySensorLabel( <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &label, <span class="keyword">const</span> <span class="keywordtype">size_t</span> &idx = 0) <span class="keyword">const</span>; <a name="l00312"></a>00312 <span class="comment"></span> <a name="l00313"></a>00313 <span class="comment"> /** Returns the i'th observation in the list with the given "sensorLabel" (0=first), and as a different smart pointer type:</span> <a name="l00314"></a>00314 <span class="comment"> * \code</span> <a name="l00315"></a>00315 <span class="comment"> * sf.getObservationBySensorLabelAs<CObservationStereoImagesPtr>(i);</span> <a name="l00316"></a>00316 <span class="comment"> * \endcode</span> <a name="l00317"></a>00317 <span class="comment"> * \sa begin, size</span> <a name="l00318"></a>00318 <span class="comment"> */</span> <a name="l00319"></a>00319 <span class="keyword">template</span> <<span class="keyword">typename</span> T> <a name="l00320"></a><a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#a87e8bbb5d26b6c0d71e0851253d174ce">00320</a> T getObservationBySensorLabelAs( <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &label, <span class="keyword">const</span> <span class="keywordtype">size_t</span> &idx = 0)<span class="keyword"> const</span> <a name="l00321"></a>00321 <span class="keyword"> </span>{ <a name="l00322"></a>00322 <span class="keywordflow">return</span> T(getObservationBySensorLabel(label,idx)); <a name="l00323"></a>00323 } <a name="l00324"></a>00324 <span class="comment"></span> <a name="l00325"></a>00325 <span class="comment"> /** Efficiently swaps the contents of two objects.</span> <a name="l00326"></a>00326 <span class="comment"> */</span> <a name="l00327"></a>00327 <span class="keywordtype">void</span> swap( <a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximat...">CSensoryFrame</a> &sf ); <a name="l00328"></a>00328 <a name="l00329"></a>00329 <span class="keyword">protected</span>:<span class="comment"></span> <a name="l00330"></a>00330 <span class="comment"> /** The set of observations taken at the same time instant. See the top of this page for instructions on accessing this.</span> <a name="l00331"></a>00331 <span class="comment"> */</span> <a name="l00332"></a>00332 <span class="comment">//std::deque<CObservation*> m_observations;</span> <a name="l00333"></a><a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#a53bdd8ac1ba1dc288a9e27c0b8f17707">00333</a> std<a class="code" href="classstd_1_1deque.html">::deque<CObservationPtr></a> <a class="code" href="classmrpt_1_1slam_1_1_c_sensory_frame.html#a53bdd8ac1ba1dc288a9e27c0b8f17707" title="The set of observations taken at the same time instant.">m_observations</a>; <a name="l00334"></a>00334 <a name="l00335"></a>00335 }; <span class="comment">// End of class def.</span> <a name="l00336"></a>00336 <a name="l00337"></a>00337 <a name="l00338"></a>00338 } <span class="comment">// End of namespace</span> <a name="l00339"></a>00339 } <span class="comment">// End of namespace</span> <a name="l00340"></a>00340 <a name="l00341"></a>00341 <span class="preprocessor">#endif</span> </pre></div></div> </div> <br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>