CObservationBearingRange.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
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   |                   http://mrpt.sourceforge.net/                            |
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   |   Copyright (C) 2005-2010  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
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   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
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   |   MRPT is distributed in the hope that it will be useful,                 |
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   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
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   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
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   +---------------------------------------------------------------------------+ */
#ifndef CObservationBearingRange_H
#define CObservationBearingRange_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/slam/CObservation.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/slam/CLandmark.h>

namespace mrpt
{
namespace slam
{
        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CObservationBearingRange , CObservation )

        /** This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs.
         *  This class can manage sensors that detect landmarks in a 2D plane (e.g. a laser scanner) or in the 3D space (e.g. a camera). There are
         *  two direction angles: yaw (azimuth) and pitch (negative elevation). For 2D sensors, the pitch must be always set to 0.
         * See CObservationBearingRange::validCovariances for the instructions to fill the uncertainty covariances.
         * \sa CObservation
         */
        class MRPTDLLIMPEXP CObservationBearingRange : public CObservation
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CObservationBearingRange )

         public:
                /** Default constructor.
                 */
                CObservationBearingRange( );

                float minSensorDistance, maxSensorDistance;  //! Information about the sensor: Ranges, in meters (0: there is no limits)
                float fieldOfView_yaw;          //!< Information about the sensor: The "field-of-view" of the sensor, in radians (for yaw ).
                float fieldOfView_pitch;        //!< Information about the sensor: The "field-of-view" of the sensor, in radians (for yaw ).

                /** The position of the sensor on the robot.
                  */
                CPose3D         sensorLocationOnRobot;

                /** Each one of the measurements:
                        */
                struct MRPTDLLIMPEXP TMeasurement
                {
                        /** The sensed landmark distance, in meters.
                          */
                        float   range;

                        /** The sensed landmark direction, in radians, measured as the yaw (azimuth) and pitch (negative elevation).
                          * See mrpt::poses::CPose3D for a definition of the 3D angles.
                          */
                        float   yaw,pitch;

                        /** The ID of the sensed beacon, or INVALID_LANDMARK_ID (-1) if the sensor does not identify the landmark.
                          */
                        int32_t landmarkID;

                        /** The covariance matrix of the landmark. 
                          */
                        CMatrixDouble33 covariance;
                };

                typedef std::vector<TMeasurement> TMeasurementList;

                /** The list of observed ranges:  */
                TMeasurementList sensedData;

                /** True: The individual 3x3 covariance matrices must be taken into account, false (default): All the measurements have identical, diagonal 3x3 covariance matrices given by the values sensor_std_range,sensor_std_yaw,sensor_std_pitch.
                  */
                bool validCovariances;

                /** Taken into account only if validCovariances=false: the standard deviation of the sensor noise model for range,yaw and pitch (in meters and radians).
                  *  If validCovariances=true, these 3 values are ignored and the individual 3x3 covariance matrices contain the actual uncertainties for each of the detected landmarks.
                  */
                float sensor_std_range,sensor_std_yaw,sensor_std_pitch;

                 /** Implements the virtual method in charge of finding the likelihood between this
                  *   and another observation, probably only of the same derived class. The operator
                  *   may be asymmetric.
                  *
                  * \param anotherObs The other observation to compute likelihood with.
                  * \param anotherObsPose If known, the belief about the robot pose when the other observation was taken can be supplied here, or NULL if it is unknown.
                  *
                  * \return Returns a likelihood measurement, in the range [0,1].
                  *     \exception std::exception On any error, as another observation being of an invalid class.
                  */
                 float  likelihoodWith( const CObservation *anotherObs, const CPosePDF *anotherObsPose = NULL ) const;


                 /** Prints out the contents of the object.
                   */
                 void  debugPrintOut();

                /** A general method to retrieve the sensor pose on the robot.
                  *  Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.
                  * \sa setSensorPose
                  */
                void getSensorPose( CPose3D &out_sensorPose ) const { out_sensorPose = sensorLocationOnRobot; }


                /** A general method to change the sensor pose on the robot.
                  *  Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.
                  * \sa getSensorPose
                  */
                void setSensorPose( const CPose3D &newSensorPose ) { sensorLocationOnRobot = newSensorPose; }


        }; // End of class def.


        } // End of namespace
} // End of namespace

#endif

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