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<div class="title">[mrpt-obs]</div> </div>
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<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<p><small> <a href="index.html#libs">Back to list of all libraries</a> | <a href="modules.html">See all modules</a> </small> <br/>
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<h2>Library <code>mrpt-obs</code></h2>
<hr/>
<p>In this library there are <b>five</b> key elements or groups of elements:</p>
<ul>
<li>
<p class="startli"><b>Sensor observations:</b> All sensor observations share a common virtual base class (<a class="el" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot's observation.">mrpt::slam::CObservation</a>). There are classes to store laser scanners, 3D range images, monocular and stereo images, GPS data, odometry, etc. A concept very related to observations is a <a class="el" 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...">mrpt::slam::CSensoryFrame</a>, a set of observations which were collected approximately at the same instant. </p>
<p class="endli"></p>
</li>
<li>
<p class="startli"><b>Rawlogs (datasets):</b> A robotics dataset can be loaded, edited and explored by means of the class <a class="el" href="classmrpt_1_1slam_1_1_c_rawlog.html" title="This class stores a rawlog (robotic datasets) in one of two possible formats:">mrpt::slam::CRawlog</a>. See also: <a href="http://www.mrpt.org/Rawlog_Format">http://www.mrpt.org/Rawlog_Format</a> </p>
<p class="endli"></p>
</li>
<li>
<p class="startli"><b>Actions:</b> For convenience in many Bayesian filtering algorithms, robot actions (like 2D displacement characterized by an odometry increment) can be represented by means of "actions". See <a class="el" href="classmrpt_1_1slam_1_1_c_action.html" title="Declares a class for storing a robot action.">mrpt::slam::CAction</a>.</p>
<p class="endli"></p>
</li>
<li>
<p class="startli"><b>"Simple maps":</b> In MRPT, a "simple map" is a set of pairs: "position", "sensory frames" (read above). The advantage of maintaining such a "simple map" instead a metric map is that the metric maps can be rebuilt when needed with different parameters from the raw observations, which are never lost. </p>
<p class="endli"></p>
</li>
<li>
<p class="startli"><b>CARMEN logs tools:</b> Utilities to read from CARMEN log files and load the observations there as MRPT observations. See <a class="el" href="group__mrpt__obs__grp.html#gaa7c197033076cfa76c71a49eceebde44" title="Parse one line from an text input stream and interpret it as a CARMEN log entry, returning its MRPT o...">mrpt::slam::carmen_log_parse_line</a> and the applications: carmen2rawlog, carmen2simplemap. </p>
<p class="endli"></p>
</li>
</ul>
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Collaboration diagram for [mrpt-obs]:</div>
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<center><table><tr><td><img src="group__mrpt__obs__grp.png" border="0" alt="" usemap="#group____mrpt____obs____grp"/>
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<area shape="rect" id="node1" href="group__mrpt__maps__grp.html" title=" Back to list of all libraries | See all modules   " alt="" coords="202,5,294,32"/><area shape="rect" id="node3" href="group__mrpt__slam__grp.html" title=" Back to list of all libraries | See all modules   " alt="" coords="204,56,292,83"/><area shape="rect" id="node4" href="group__mrpt__vision__grp.html" title=" Back to list of all libraries | See all modules   " alt="" coords="201,107,295,133"/></map>
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<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_action.html">mrpt::slam::CAction</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class for storing a robot action. <a href="classmrpt_1_1slam_1_1_c_action.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_action_collection.html">mrpt::slam::CActionCollection</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class for storing a collection of robot actions. <a href="classmrpt_1_1slam_1_1_c_action_collection.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement2_d.html">mrpt::slam::CActionRobotMovement2D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Represents a probabilistic 2D movement of the robot mobile base. <a href="classmrpt_1_1slam_1_1_c_action_robot_movement2_d.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html">mrpt::slam::CActionRobotMovement3D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Represents a probabilistic 3D (6D) movement. <a href="classmrpt_1_1slam_1_1_c_action_robot_movement3_d.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html">mrpt::slam::CMetricMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a virtual base class for all metric maps storage classes. <a href="classmrpt_1_1slam_1_1_c_metric_map.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1mrpt_event_metric_map_clear.html">mrpt::slam::mrptEventMetricMapClear</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Event emitted by a metric up upon call of clear() <a href="classmrpt_1_1slam_1_1mrpt_event_metric_map_clear.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1mrpt_event_metric_map_insert.html">mrpt::slam::mrptEventMetricMapInsert</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Event emitted by a metric up upon a succesful call to insertObservation() <a href="classmrpt_1_1slam_1_1mrpt_event_metric_map_insert.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation.html">mrpt::slam::CObservation</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class that represents any robot's observation. <a href="classmrpt_1_1slam_1_1_c_observation.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_t2_d_scan_properties.html">mrpt::slam::T2DScanProperties</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Auxiliary struct that holds all the relevant *geometry* information about a 2D scan. <a href="structmrpt_1_1slam_1_1_t2_d_scan_properties.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html">mrpt::slam::CObservation2DRangeScan</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser scanner). <a href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation3_d_range_scan.html">mrpt::slam::CObservation3DRangeScan</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class derived from "CObservation" that encapsules a 3D range scan measurement (e.g. <a href="classmrpt_1_1slam_1_1_c_observation3_d_range_scan.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_battery_state.html">mrpt::slam::CObservationBatteryState</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This represents a measurement of the batteries on the robot. <a href="classmrpt_1_1slam_1_1_c_observation_battery_state.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_beacon_ranges.html">mrpt::slam::CObservationBeaconRanges</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class derived from "CObservation" that represents one (or more) range measurements to labeled beacons. <a href="classmrpt_1_1slam_1_1_c_observation_beacon_ranges.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html">mrpt::slam::CObservationBearingRange</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs. <a href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_comment.html">mrpt::slam::CObservationComment</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This "observation" is actually a placeholder for a text block with comments or additional parameters attached to a given rawlog file. <a href="classmrpt_1_1slam_1_1_c_observation_comment.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_gas_sensors.html">mrpt::slam::CObservationGasSensors</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class derived from "CObservation" that represents a set of readings from gas sensors. <a href="classmrpt_1_1slam_1_1_c_observation_gas_sensors.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html">mrpt::slam::CObservationGPS</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class derived from "CObservation" that represents a Global Positioning System (GPS) reading. <a href="classmrpt_1_1slam_1_1_c_observation_g_p_s.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_image.html">mrpt::slam::CObservationImage</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored. <a href="classmrpt_1_1slam_1_1_c_observation_image.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html">mrpt::slam::CObservationIMU</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This class stores measurements from an Inertial Measurement Unit (IMU), and/or its attitude estimation (integration of raw measurements). <a href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_odometry.html">mrpt::slam::CObservationOdometry</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">An observation of the current (cumulative) odometry for a wheeled robot. <a href="classmrpt_1_1slam_1_1_c_observation_odometry.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_range.html">mrpt::slam::CObservationRange</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters. <a href="classmrpt_1_1slam_1_1_c_observation_range.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_reflectivity.html">mrpt::slam::CObservationReflectivity</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class derived from "CObservation" that encapsules a single short-range reflectivity measurement. <a href="classmrpt_1_1slam_1_1_c_observation_reflectivity.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html">mrpt::slam::CObservationStereoImages</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Observation class for either a pair of left+right or left+disparity images from a stereo camera. <a href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images_features.html">mrpt::slam::CObservationStereoImagesFeatures</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Declares a class derived from "CObservation" that encapsules a pair of cameras and a set of matched image features extracted from them. <a href="classmrpt_1_1slam_1_1_c_observation_stereo_images_features.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_observation_wireless_power.html">mrpt::slam::CObservationWirelessPower</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This represents a measurement of the wireless strength perceived by the robot. <a href="classmrpt_1_1slam_1_1_c_observation_wireless_power.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_rawlog.html">mrpt::slam::CRawlog</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This class stores a rawlog (robotic datasets) in one of two possible formats: <a href="classmrpt_1_1slam_1_1_c_rawlog.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html">mrpt::slam::CSensoryFrame</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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. <a href="classmrpt_1_1slam_1_1_c_sensory_frame.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_simple_map.html">mrpt::slam::CSimpleMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be totally determined with this information. <a href="classmrpt_1_1slam_1_1_c_simple_map.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_sin_cos_look_up_table_for2_d_scans.html">mrpt::slam::CSinCosLookUpTableFor2DScans</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A smart look-up-table (LUT) of sin/cos values for 2D laser scans. <a href="classmrpt_1_1slam_1_1_c_sin_cos_look_up_table_for2_d_scans.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="namespaces"></a>
Namespaces</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html">mrpt::slam</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>This namespace contains algorithms for SLAM, localization, map building, representation of robot's actions and observations, and representation of many kinds of metric maps. </p>
<br/></td></tr>
<tr><td colspan="2"><h2><a name="define-members"></a>
Defines</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__obs__grp.html#ga02a4785ad1c01bd6afc458aab2809b50">INVALID_LANDMARK_ID</a>   (-1)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used for CObservationBearingRange::TMeasurement::beaconID. <a href="#ga02a4785ad1c01bd6afc458aab2809b50"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__obs__grp.html#ga664c88c8d05358e6403cda109f338efc">INVALID_BEACON_ID</a>   (-1)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used for CObservationBeaconRange. <a href="#ga664c88c8d05358e6403cda109f338efc"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="enum-members"></a>
Enumerations</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__obs__grp.html#ga4f7d710325d4bb5b80b3d3d3df1fdfb2">mrpt::slam::TIMUDataIndex</a> { <br/>
  <a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2a9c77effd87245f3228f63210e5c525d5">mrpt::slam::IMU_X_ACC</a> = 0,
<a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2a751fbd3ceaa099e88d5bc31c45543453">mrpt::slam::IMU_Y_ACC</a>,
<a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2ab9abe7e5055b4305a9088bbc0b8a669a">mrpt::slam::IMU_Z_ACC</a>,
<a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2afd2b088e5e8532e61db0414762242a80">mrpt::slam::IMU_YAW_VEL</a>,
<br/>
  <a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2aa75f0ad60863eab953ee94346a6e02d7">mrpt::slam::IMU_PITCH_VEL</a>,
<a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2ad2958b005e46433d8483b594ae3f6294">mrpt::slam::IMU_ROLL_VEL</a>,
<a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2ab66fa3ba191da1b197112672165ff275">mrpt::slam::IMU_X_VEL</a>,
<a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2af7b51469c81d7a48e60ce490be25ba1e">mrpt::slam::IMU_Y_VEL</a>,
<br/>
  <a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2ab0cdf5a6d20f2994ab49f4f4e42157a9">mrpt::slam::IMU_Z_VEL</a>,
<a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2abb184b9c8d7c35f7532cd60ed8e54b56">mrpt::slam::IMU_YAW</a>,
<a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2ad4c40a7d0f1ff81b2a03597a508e4fd9">mrpt::slam::IMU_PITCH</a>,
<a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2aea7528b5a166cd8b6e973cf3465d6165">mrpt::slam::IMU_ROLL</a>,
<br/>
  <a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2aec1bb21f46bb0a1b08757a9880d65bae">mrpt::slam::IMU_X</a>,
<a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2a913b6368bbed975c50c0ab70f62f3613">mrpt::slam::IMU_Y</a>,
<a class="el" href="group__mrpt__obs__grp.html#gga4f7d710325d4bb5b80b3d3d3df1fdfb2a9a4f502178514c22f7cf2213f6d817c0">mrpt::slam::IMU_Z</a>
<br/>
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Symbolic names for the indices of IMU data (refer to <a class="el" href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html" title="This class stores measurements from an Inertial Measurement Unit (IMU), and/or its attitude estimatio...">mrpt::slam::CObservationIMU</a>) <a href="group__mrpt__obs__grp.html#ga4f7d710325d4bb5b80b3d3d3df1fdfb2">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool OBS_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__obs__grp.html#gaa7c197033076cfa76c71a49eceebde44">mrpt::slam::carmen_log_parse_line</a> (<a class="el" href="classstd_1_1istream.html">std::istream</a> &in_stream, <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="structmrpt_1_1slam_1_1_c_observation_ptr.html">mrpt::slam::CObservationPtr</a> > &out_imported_observations, const <a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a> &time_start_log)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Parse one line from an text input stream and interpret it as a CARMEN log entry, returning its MRPT observation representation. <a href="#gaa7c197033076cfa76c71a49eceebde44"></a><br/></td></tr>
</table>
<hr/><h2>Define Documentation</h2>
<a class="anchor" id="ga664c88c8d05358e6403cda109f338efc"></a><!-- doxytag: member="CObservation.h::INVALID_BEACON_ID" ref="ga664c88c8d05358e6403cda109f338efc" args="" -->
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<td class="memname">#define INVALID_BEACON_ID   (-1)</td>
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<div class="memdoc">
<p>Used for CObservationBeaconRange. </p>
<p>Definition at line <a class="el" href="_c_observation_8h_source.html#l00065">65</a> of file <a class="el" href="_c_observation_8h_source.html">CObservation.h</a>.</p>
</div>
</div>
<a class="anchor" id="ga02a4785ad1c01bd6afc458aab2809b50"></a><!-- doxytag: member="CObservation.h::INVALID_LANDMARK_ID" ref="ga02a4785ad1c01bd6afc458aab2809b50" args="" -->
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<td class="memname">#define INVALID_LANDMARK_ID   (-1)</td>
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<p>Used for CObservationBearingRange::TMeasurement::beaconID. </p>
<p>Definition at line <a class="el" href="_c_observation_8h_source.html#l00060">60</a> of file <a class="el" href="_c_observation_8h_source.html">CObservation.h</a>.</p>
</div>
</div>
<hr/><h2>Enumeration Type Documentation</h2>
<a class="anchor" id="ga4f7d710325d4bb5b80b3d3d3df1fdfb2"></a><!-- doxytag: member="mrpt::slam::TIMUDataIndex" ref="ga4f7d710325d4bb5b80b3d3d3df1fdfb2" args="" -->
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<td class="memname">enum <a class="el" href="group__mrpt__obs__grp.html#ga4f7d710325d4bb5b80b3d3d3df1fdfb2">mrpt::slam::TIMUDataIndex</a></td>
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<div class="memdoc">
<p>Symbolic names for the indices of IMU data (refer to <a class="el" href="classmrpt_1_1slam_1_1_c_observation_i_m_u.html" title="This class stores measurements from an Inertial Measurement Unit (IMU), and/or its attitude estimatio...">mrpt::slam::CObservationIMU</a>) </p>
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="gga4f7d710325d4bb5b80b3d3d3df1fdfb2a9c77effd87245f3228f63210e5c525d5"></a><!-- doxytag: member="IMU_X_ACC" ref="gga4f7d710325d4bb5b80b3d3d3df1fdfb2a9c77effd87245f3228f63210e5c525d5" args="" -->IMU_X_ACC</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="gga4f7d710325d4bb5b80b3d3d3df1fdfb2a751fbd3ceaa099e88d5bc31c45543453"></a><!-- doxytag: member="IMU_Y_ACC" ref="gga4f7d710325d4bb5b80b3d3d3df1fdfb2a751fbd3ceaa099e88d5bc31c45543453" args="" -->IMU_Y_ACC</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="gga4f7d710325d4bb5b80b3d3d3df1fdfb2ab9abe7e5055b4305a9088bbc0b8a669a"></a><!-- doxytag: member="IMU_Z_ACC" ref="gga4f7d710325d4bb5b80b3d3d3df1fdfb2ab9abe7e5055b4305a9088bbc0b8a669a" args="" -->IMU_Z_ACC</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="gga4f7d710325d4bb5b80b3d3d3df1fdfb2afd2b088e5e8532e61db0414762242a80"></a><!-- doxytag: member="IMU_YAW_VEL" ref="gga4f7d710325d4bb5b80b3d3d3df1fdfb2afd2b088e5e8532e61db0414762242a80" args="" -->IMU_YAW_VEL</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="gga4f7d710325d4bb5b80b3d3d3df1fdfb2aa75f0ad60863eab953ee94346a6e02d7"></a><!-- doxytag: member="IMU_PITCH_VEL" ref="gga4f7d710325d4bb5b80b3d3d3df1fdfb2aa75f0ad60863eab953ee94346a6e02d7" args="" -->IMU_PITCH_VEL</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="gga4f7d710325d4bb5b80b3d3d3df1fdfb2ad2958b005e46433d8483b594ae3f6294"></a><!-- doxytag: member="IMU_ROLL_VEL" ref="gga4f7d710325d4bb5b80b3d3d3df1fdfb2ad2958b005e46433d8483b594ae3f6294" args="" -->IMU_ROLL_VEL</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="gga4f7d710325d4bb5b80b3d3d3df1fdfb2ab66fa3ba191da1b197112672165ff275"></a><!-- doxytag: member="IMU_X_VEL" ref="gga4f7d710325d4bb5b80b3d3d3df1fdfb2ab66fa3ba191da1b197112672165ff275" args="" -->IMU_X_VEL</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="gga4f7d710325d4bb5b80b3d3d3df1fdfb2af7b51469c81d7a48e60ce490be25ba1e"></a><!-- doxytag: member="IMU_Y_VEL" ref="gga4f7d710325d4bb5b80b3d3d3df1fdfb2af7b51469c81d7a48e60ce490be25ba1e" args="" -->IMU_Y_VEL</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="gga4f7d710325d4bb5b80b3d3d3df1fdfb2ab0cdf5a6d20f2994ab49f4f4e42157a9"></a><!-- doxytag: member="IMU_Z_VEL" ref="gga4f7d710325d4bb5b80b3d3d3df1fdfb2ab0cdf5a6d20f2994ab49f4f4e42157a9" args="" -->IMU_Z_VEL</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="gga4f7d710325d4bb5b80b3d3d3df1fdfb2abb184b9c8d7c35f7532cd60ed8e54b56"></a><!-- doxytag: member="IMU_YAW" ref="gga4f7d710325d4bb5b80b3d3d3df1fdfb2abb184b9c8d7c35f7532cd60ed8e54b56" args="" -->IMU_YAW</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="gga4f7d710325d4bb5b80b3d3d3df1fdfb2ad4c40a7d0f1ff81b2a03597a508e4fd9"></a><!-- doxytag: member="IMU_PITCH" ref="gga4f7d710325d4bb5b80b3d3d3df1fdfb2ad4c40a7d0f1ff81b2a03597a508e4fd9" args="" -->IMU_PITCH</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="gga4f7d710325d4bb5b80b3d3d3df1fdfb2aea7528b5a166cd8b6e973cf3465d6165"></a><!-- doxytag: member="IMU_ROLL" ref="gga4f7d710325d4bb5b80b3d3d3df1fdfb2aea7528b5a166cd8b6e973cf3465d6165" args="" -->IMU_ROLL</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="gga4f7d710325d4bb5b80b3d3d3df1fdfb2aec1bb21f46bb0a1b08757a9880d65bae"></a><!-- doxytag: member="IMU_X" ref="gga4f7d710325d4bb5b80b3d3d3df1fdfb2aec1bb21f46bb0a1b08757a9880d65bae" args="" -->IMU_X</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="gga4f7d710325d4bb5b80b3d3d3df1fdfb2a913b6368bbed975c50c0ab70f62f3613"></a><!-- doxytag: member="IMU_Y" ref="gga4f7d710325d4bb5b80b3d3d3df1fdfb2a913b6368bbed975c50c0ab70f62f3613" args="" -->IMU_Y</em> </td><td>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="gga4f7d710325d4bb5b80b3d3d3df1fdfb2a9a4f502178514c22f7cf2213f6d817c0"></a><!-- doxytag: member="IMU_Z" ref="gga4f7d710325d4bb5b80b3d3d3df1fdfb2a9a4f502178514c22f7cf2213f6d817c0" args="" -->IMU_Z</em> </td><td>
</td></tr>
</table>
</dd>
</dl>
<p>Definition at line <a class="el" href="_c_observation_i_m_u_8h_source.html#l00047">47</a> of file <a class="el" href="_c_observation_i_m_u_8h_source.html">CObservationIMU.h</a>.</p>
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<hr/><h2>Function Documentation</h2>
<a class="anchor" id="gaa7c197033076cfa76c71a49eceebde44"></a><!-- doxytag: member="mrpt::slam::carmen_log_parse_line" ref="gaa7c197033076cfa76c71a49eceebde44" args="(std::istream &in_stream, std::vector< mrpt::slam::CObservationPtr > &out_imported_observations, const mrpt::system::TTimeStamp &time_start_log)" -->
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<td class="memname">bool OBS_IMPEXP mrpt::slam::carmen_log_parse_line </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classstd_1_1istream.html">std::istream</a> & </td>
<td class="paramname"><em>in_stream</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="structmrpt_1_1slam_1_1_c_observation_ptr.html">mrpt::slam::CObservationPtr</a> > & </td>
<td class="paramname"><em>out_imported_observations</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="group__time__date.html#ga42674286d8d56afea013b6329bb7327a">mrpt::system::TTimeStamp</a> & </td>
<td class="paramname"><em>time_start_log</em> </td>
</tr>
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<td></td>
<td>)</td>
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<div class="memdoc">
<p>Parse one line from an text input stream and interpret it as a CARMEN log entry, returning its MRPT observation representation. </p>
<p>The first word in each line determines the type of that entry. Supported line entries in this class are the following:</p>
<ul>
<li>"ROBOTLASER(.*)": A joint odometry-laser entry. This function will return both an <a class="el" href="classmrpt_1_1slam_1_1_c_observation_odometry.html" title="An observation of the current (cumulative) odometry for a wheeled robot.">mrpt::slam::CObservationOdometry</a> and an <a class="el" href="classmrpt_1_1slam_1_1_c_observation2_d_range_scan.html" title="A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...">mrpt::slam::CObservation2DRangeScan</a></li>
<li>"FLASER": (Idem)</li>
<li>"RLASER": (Idem)</li>
<li>"PARAM": This case is special (read below).</li>
</ul>
<p>Note that the sensor position on the robot will be always deduced from the corresponding CARMEN log line automatically.</p>
<p>The following entry types will be IGNORED, since with the tags above will be enough in most applications.</p>
<ul>
<li>"ODOM"</li>
<li>"RAWLASER"</li>
</ul>
<p>About the PARAM entries: This functions has an internal static status consisting on some PARAM values which have effects on the future read observations. When the function finds one of these, it stores the parameter value, return an empty vector of observations, and use those values for future laser entries of types FLASER or RLASER. Currently, only these parameters are processed:</p>
<ul>
<li>"robot_front_laser_max"</li>
<li>"laser_front_laser_resolution"</li>
<li>"robot_rear_laser_max"</li>
<li>"laser_rear_laser_resolution"</li>
</ul>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">time_start_log</td><td>The real timestamp that corresponds to a "0" in the CARMEN log (you can get a <a class="el" href="group__time__date.html#ga8cfac7450724f121d3a6a40a4b9ce205" title="A shortcut for system::getCurrentTime.">mrpt::system::now()</a> once and pass that same value with each call).</td></tr>
</table>
</dd>
</dl>
<p>References: <a href="http://carmen.sourceforge.net/doc/binary__loggerplayback.html">http://carmen.sourceforge.net/doc/binary__loggerplayback.html</a></p>
<dl class="return"><dt><b>Returns:</b></dt><dd>true on success, false on end-of-file (EOF). </dd></dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1runtime__error.html" title="STL class.">std::runtime_error</a></td><td>On any invalid line found. </td></tr>
</table>
</dd>
</dl>
</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>
