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9 #ifndef CObservationBeaconRanges_H
10 #define CObservationBeaconRanges_H
Each one of the measurements:
mrpt::poses::CPose2D auxEstimatePose
The (X,Y,PHI) pose estimated by the UWB software, for comparison purposes (Added in streamming versio...
float sensedDistance
The sensed range itself (in meters).
float minSensorDistance
Information about the sensor:
CObservationBeaconRanges()
Default constructor.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
std::deque< TMeasurement > sensedData
The list of observed ranges:
Declares a class derived from "CObservation" that represents one (or more) range measurements to labe...
void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
void debugPrintOut()
Prints out the contents of the object.
float stdError
The "sigma" of the sensor, assuming a zero-mean Gaussian noise model.
A class used to store a 2D pose.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
int32_t beaconID
The ID of the sensed beacon (or INVALID_BEACON_ID)
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
A general method to retrieve the sensor pose on the robot.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
Declares a class that represents any robot's observation.
A class used to store a 3D point.
float getSensedRangeByBeaconID(int32_t beaconID)
Easy look-up into the vector sensedData, returns the range for a given beacon, or 0 if the beacon is ...
mrpt::poses::CPoint3D sensorLocationOnRobot
The position of the sensor on the robot.
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
A general method to change the sensor pose on the robot.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
#define INVALID_BEACON_ID
Used for CObservationBeaconRange.
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