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<div class="title">CDetectableObject.h</div> </div>
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<a href="_c_detectable_object_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
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef CDetectableObject_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define CDetectableObject_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></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_observation_8h.html">mrpt/slam/CObservation.h</a>></span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="detectors_2include_2mrpt_2detectors_2link__pragmas_8h.html">mrpt/detectors/link_pragmas.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>detectors
<a name="l00040"></a>00040 {
<a name="l00041"></a>00041 <span class="keyword">using namespace </span>mrpt::slam;
<a name="l00042"></a>00042
<a name="l00043"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_detectable_object_ptr.html#a5ae11371095e8ebc441841d467820da3">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_1detectors_1_1_c_detectable_object.html" title="Base class that contains common atributes and functions of detectable objects.">CDetectableObject</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="detectors_2include_2mrpt_2detectors_2link__pragmas_8h.html#ae00c8cbe5f2c28b86dc1d62ebb3c5919">DETECTORS_IMPEXP</a> )
<a name="l00044"></a>00044
<a name="l00045"></a>00045 <span class="comment">/** Base class that contains common atributes and functions of detectable objects.</span>
<a name="l00046"></a>00046 <span class="comment"> * It was initially thought for detected objects in images from cams, but it's easily</span>
<a name="l00047"></a>00047 <span class="comment"> * expandable to other source types (f.i. scanners).</span>
<a name="l00048"></a>00048 <span class="comment"> * \ingroup mrpt_detectors_grp</span>
<a name="l00049"></a>00049 <span class="comment"> */</span>
<a name="l00050"></a>00050 class <a class="code" href="detectors_2include_2mrpt_2detectors_2link__pragmas_8h.html#ae00c8cbe5f2c28b86dc1d62ebb3c5919">DETECTORS_IMPEXP</a> <a class="code" href="classmrpt_1_1detectors_1_1_c_detectable_object.html" title="Base class that contains common atributes and functions of detectable objects.">CDetectableObject</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="l00051"></a>00051 {
<a name="l00052"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_detectable_object.html#a6fec28a53e20dfc1c4d046c26f9f7b48">00052</a> <a class="code" href="_c_serializable_8h.html#a5876f72cf51bfb66a82bf81cc493febc" title="This declaration must be inserted in virtual CSerializable classes definition:">DEFINE_VIRTUAL_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1detectors_1_1_c_detectable_object.html" title="Base class that contains common atributes and functions of detectable objects.">CDetectableObject</a> )
<a name="l00053"></a>00053
<a name="l00054"></a>00054 public:
<a name="l00055"></a>00055
<a name="l00056"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_detectable_object.html#abffe3fe0b69b9b054824edb4c16a7fc8">00056</a> std::<span class="keywordtype">string</span> m_id; <span class="comment">//!< Must be an unique id for each detectable object</span>
<a name="l00057"></a>00057 <span class="comment"></span>
<a name="l00058"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_detectable_object.html#af2de19a97b0cbf3dac10c83666016b68">00058</a> <a class="code" href="structmrpt_1_1slam_1_1_c_observation_ptr.html">CObservationPtr</a> obs; <span class="comment">//!< Observation wich contain the deteted object</span>
<a name="l00059"></a>00059 <span class="comment"></span>
<a name="l00060"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_detectable_object.html#a8171889d71d383c5ac3fdd0673cf6550">00060</a> inline <span class="keywordtype">void</span> setObservation( <a class="code" href="structmrpt_1_1slam_1_1_c_observation_ptr.html">CObservationPtr</a> newObs ){ obs = newObs; };
<a name="l00061"></a>00061
<a name="l00062"></a>00062 }; <span class="comment">// End of class</span>
<a name="l00063"></a>00063
<a name="l00064"></a>00064
<a name="l00065"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_detectable2_d_ptr.html#adc03f4251a6b95205e27625e346a801c">00065</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_1detectors_1_1_c_detectable2_d.html">CDetectable2D</a>, <a class="code" href="classmrpt_1_1detectors_1_1_c_detectable_object.html" title="Base class that contains common atributes and functions of detectable objects.">mrpt::detectors::CDetectableObject</a>, <a class="code" href="detectors_2include_2mrpt_2detectors_2link__pragmas_8h.html#ae00c8cbe5f2c28b86dc1d62ebb3c5919">DETECTORS_IMPEXP</a> )
<a name="l00066"></a>00066
<a name="l00067"></a>00067 class <a class="code" href="detectors_2include_2mrpt_2detectors_2link__pragmas_8h.html#ae00c8cbe5f2c28b86dc1d62ebb3c5919">DETECTORS_IMPEXP</a> <a class="code" href="classmrpt_1_1detectors_1_1_c_detectable2_d.html">CDetectable2D</a>: public <a class="code" href="classmrpt_1_1detectors_1_1_c_detectable_object.html" title="Base class that contains common atributes and functions of detectable objects.">CDetectableObject</a>
<a name="l00068"></a>00068 {
<a name="l00069"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_detectable2_d.html#a3a6ac173fcddb5798ce9c46b07a63584">00069</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_1detectors_1_1_c_detectable2_d.html">CDetectable2D</a> )
<a name="l00070"></a>00070
<a name="l00071"></a>00071 public:
<a name="l00072"></a>00072
<a name="l00073"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_detectable2_d.html#a29f3f120365902b09a83cafa645bac94">00073</a> <span class="keywordtype">float</span> m_x, m_y; <span class="comment">//!< 2D Coordinates of detected object</span>
<a name="l00074"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_detectable2_d.html#aa3ef852f12d8d4f532c1940a506cd36b">00074</a> <span class="comment"></span> <span class="keywordtype">float</span> m_height, m_width; <span class="comment">//!< Size of detected object</span>
<a name="l00075"></a>00075 <span class="comment"></span><span class="comment"></span>
<a name="l00076"></a>00076 <span class="comment"> /** Extra constructor */</span>
<a name="l00077"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_detectable2_d.html#ae2c498f5a082b8a830b7037c02055ec2">00077</a> <a class="code" href="classmrpt_1_1detectors_1_1_c_detectable2_d.html">CDetectable2D</a>( const <span class="keywordtype">int</span> &x = 0, const <span class="keywordtype">int</span> &<a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a> = 0, const <span class="keywordtype">int</span> &height = 0, const <span class="keywordtype">int</span> &width = 0 )
<a name="l00078"></a>00078 : m_x(x), m_y(y), m_height(height), m_width(width)
<a name="l00079"></a>00079 {};
<a name="l00080"></a>00080 <span class="comment"></span>
<a name="l00081"></a>00081 <span class="comment"> /** Copy pointer content constructor */</span>
<a name="l00082"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_detectable2_d.html#a7309e4568b92a8d6501be8d0d6e5ad7e">00082</a> <a class="code" href="classmrpt_1_1detectors_1_1_c_detectable2_d.html">CDetectable2D</a>( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1detectors_1_1_c_detectable2_d.html">CDetectable2D</a> *d )
<a name="l00083"></a>00083 {
<a name="l00084"></a>00084 *<span class="keyword">this</span> = *d;
<a name="l00085"></a>00085 };
<a name="l00086"></a>00086 <span class="comment"></span>
<a name="l00087"></a>00087 <span class="comment"> /** Compute distance between centers of two detectable 2D objects.</span>
<a name="l00088"></a>00088 <span class="comment"> * \return calculated distance.</span>
<a name="l00089"></a>00089 <span class="comment"> */</span>
<a name="l00090"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_detectable2_d.html#a37578ba9a201b3614f5906aacab2b210">00090</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> distanceTo( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1detectors_1_1_c_detectable2_d.html">CDetectable2D</a> &d2 )
<a name="l00091"></a>00091 {
<a name="l00092"></a>00092 <span class="comment">// Calculate objects centers</span>
<a name="l00093"></a>00093 <span class="keywordtype">double</span> c_x1 = ( m_x + m_width/2 );
<a name="l00094"></a>00094 <span class="keywordtype">double</span> c_x2 = ( d2.<a class="code" href="classmrpt_1_1detectors_1_1_c_detectable2_d.html#a644e8a7a29cd62fbacaffead77e36cc2">m_x</a> + d2.<a class="code" href="classmrpt_1_1detectors_1_1_c_detectable2_d.html#aa3ef852f12d8d4f532c1940a506cd36b" title="Size of detected object.">m_width</a>/2 );
<a name="l00095"></a>00095 <span class="keywordtype">double</span> c_y1 = ( m_y + m_height/2 ) ;
<a name="l00096"></a>00096 <span class="keywordtype">double</span> c_y2 = ( d2.<a class="code" href="classmrpt_1_1detectors_1_1_c_detectable2_d.html#a29f3f120365902b09a83cafa645bac94" title="2D Coordinates of detected object">m_y</a> + d2.<a class="code" href="classmrpt_1_1detectors_1_1_c_detectable2_d.html#aeb7aa0f0b1e02b299c152c4f8de4e69c">m_height</a>/2 ) ;
<a name="l00097"></a>00097
<a name="l00098"></a>00098 <span class="keywordflow">return</span> sqrt( pow( c_x1 - c_x2, 2 ) + pow( c_y1 - c_y2, 2 ) );
<a name="l00099"></a>00099 };
<a name="l00100"></a>00100
<a name="l00101"></a>00101 };
<a name="l00102"></a>00102
<a name="l00103"></a>00103
<a name="l00104"></a><a class="code" href="structmrpt_1_1detectors_1_1_c_detectable3_d_ptr.html#a0588bfe7dc8e62cf2dac2719536ab590">00104</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_1detectors_1_1_c_detectable3_d.html">CDetectable3D</a>, <a class="code" href="classmrpt_1_1detectors_1_1_c_detectable2_d.html">mrpt::detectors::CDetectable2D</a>, <a class="code" href="detectors_2include_2mrpt_2detectors_2link__pragmas_8h.html#ae00c8cbe5f2c28b86dc1d62ebb3c5919">DETECTORS_IMPEXP</a> )
<a name="l00105"></a>00105
<a name="l00106"></a>00106 class <a class="code" href="detectors_2include_2mrpt_2detectors_2link__pragmas_8h.html#ae00c8cbe5f2c28b86dc1d62ebb3c5919">DETECTORS_IMPEXP</a> <a class="code" href="classmrpt_1_1detectors_1_1_c_detectable3_d.html">CDetectable3D</a>: public <a class="code" href="classmrpt_1_1detectors_1_1_c_detectable2_d.html">CDetectable2D</a>
<a name="l00107"></a>00107 {
<a name="l00108"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_detectable3_d.html#afb9df34c7a9a7ea508c08e1ce36bc549">00108</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_1detectors_1_1_c_detectable3_d.html">CDetectable3D</a> )
<a name="l00109"></a>00109
<a name="l00110"></a>00110 public:
<a name="l00111"></a>00111
<a name="l00112"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_detectable3_d.html#ac35271629d63034b4f67347951aba026">00112</a> <a class="code" href="classmrpt_1_1detectors_1_1_c_detectable3_d.html">CDetectable3D</a>(){};
<a name="l00113"></a>00113
<a name="l00114"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_detectable3_d.html#af12c02861c54c70d5d8124fef64e0fa7">00114</a> <a class="code" href="classmrpt_1_1detectors_1_1_c_detectable3_d.html">CDetectable3D</a>( <span class="keyword">const</span> <a class="code" href="structmrpt_1_1detectors_1_1_c_detectable2_d_ptr.html">CDetectable2DPtr</a> &object2d )
<a name="l00115"></a>00115 : CDetectable2D( object2d.pointer() ), m_z(0)
<a name="l00116"></a>00116 { };
<a name="l00117"></a>00117 <span class="comment"></span>
<a name="l00118"></a>00118 <span class="comment"> /** Copy pointer content constructor */</span>
<a name="l00119"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_detectable3_d.html#a8a56446d15d82f39d25f30f77fbcfe32">00119</a> <a class="code" href="classmrpt_1_1detectors_1_1_c_detectable3_d.html">CDetectable3D</a>( <span class="keyword">const</span> <a class="code" href="classmrpt_1_1detectors_1_1_c_detectable3_d.html">CDetectable3D</a> *d )
<a name="l00120"></a>00120 {
<a name="l00121"></a>00121 *<span class="keyword">this</span> = *d;
<a name="l00122"></a><a class="code" href="classmrpt_1_1detectors_1_1_c_detectable3_d.html#a74391773c4efc491015c74a76a3cb039">00122</a> };
<a name="l00123"></a>00123
<a name="l00124"></a>00124
<a name="l00125"></a>00125 <span class="keywordtype">float</span> m_z; <span class="comment">//!< Z coordinate of detected object</span>
<a name="l00126"></a>00126 <span class="comment"></span>
<a name="l00127"></a>00127 }; <span class="comment">// End of class</span>
<a name="l00128"></a>00128 }
<a name="l00129"></a>00129
<a name="l00130"></a>00130 }
<a name="l00131"></a>00131
<a name="l00132"></a>00132 <span class="preprocessor">#endif</span>
</pre></div></div>
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