This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs. More...
#include <mrpt/slam/CObservationBearingRange.h>
Classes | |
| struct | TMeasurement |
| Each one of the measurements:. More... | |
Public Types | |
| typedef std::vector< TMeasurement > | TMeasurementList |
Public Member Functions | |
| CObservationBearingRange () | |
| Default constructor. | |
| float | likelihoodWith (const CObservation *anotherObs, const CPosePDF *anotherObsPose=NULL) const |
| Implements the virtual method in charge of finding the likelihood between this and another observation, probably only of the same derived class. | |
| void | debugPrintOut () |
| Prints out the contents of the object. | |
| void | getSensorPose (CPose3D &out_sensorPose) const |
| A general method to retrieve the sensor pose on the robot. | |
| void | setSensorPose (const CPose3D &newSensorPose) |
| A general method to change the sensor pose on the robot. | |
Public Attributes | |
| float | minSensorDistance |
| float | maxSensorDistance |
| float | fieldOfView_yaw |
| Information about the sensor: Ranges, in meters (0: there is no limits). | |
| float | fieldOfView_pitch |
| Information about the sensor: The "field-of-view" of the sensor, in radians (for yaw ). | |
| CPose3D | sensorLocationOnRobot |
| The position of the sensor on the robot. | |
| TMeasurementList | sensedData |
| The list of observed ranges:. | |
| bool | validCovariances |
| 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. | |
| float | sensor_std_range |
| Taken into account only if validCovariances=false: the standard deviation of the sensor noise model for range,yaw and pitch (in meters and radians). | |
| float | sensor_std_yaw |
| float | sensor_std_pitch |
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.
Definition at line 48 of file CObservationBearingRange.h.
| typedef std::vector<TMeasurement> mrpt::slam::CObservationBearingRange::TMeasurementList |
Definition at line 88 of file CObservationBearingRange.h.
| mrpt::slam::CObservationBearingRange::CObservationBearingRange | ( | ) |
Default constructor.
| void mrpt::slam::CObservationBearingRange::debugPrintOut | ( | ) |
Prints out the contents of the object.
| void mrpt::slam::CObservationBearingRange::getSensorPose | ( | CPose3D & | out_sensorPose | ) | const [inline, virtual] |
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.
Implements mrpt::slam::CObservation.
Definition at line 123 of file CObservationBearingRange.h.
| float mrpt::slam::CObservationBearingRange::likelihoodWith | ( | const CObservation * | anotherObs, | |
| const CPosePDF * | anotherObsPose = NULL | |||
| ) | const [virtual] |
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.
| anotherObs | The other observation to compute likelihood with. | |
| 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. |
| std::exception | On any error, as another observation being of an invalid class. |
Implements mrpt::slam::CObservation.
| void mrpt::slam::CObservationBearingRange::setSensorPose | ( | const CPose3D & | newSensorPose | ) | [inline, virtual] |
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.
Implements mrpt::slam::CObservation.
Definition at line 130 of file CObservationBearingRange.h.
Information about the sensor: The "field-of-view" of the sensor, in radians (for yaw ).
Definition at line 60 of file CObservationBearingRange.h.
Information about the sensor: Ranges, in meters (0: there is no limits).
Information about the sensor: The "field-of-view" of the sensor, in radians (for yaw ).
Definition at line 59 of file CObservationBearingRange.h.
Definition at line 58 of file CObservationBearingRange.h.
Definition at line 58 of file CObservationBearingRange.h.
The list of observed ranges:.
Definition at line 91 of file CObservationBearingRange.h.
Definition at line 100 of file CObservationBearingRange.h.
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.
Definition at line 100 of file CObservationBearingRange.h.
Definition at line 100 of file CObservationBearingRange.h.
The position of the sensor on the robot.
Definition at line 64 of file CObservationBearingRange.h.
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.
Definition at line 95 of file CObservationBearingRange.h.
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