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9 #ifndef CObservationBearingRange_H
10 #define CObservationBearingRange_H
Each one of the measurements:
std::vector< TMeasurement > TMeasurementList
void debugPrintOut()
Prints out the contents of the object.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
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...
TMeasurementList sensedData
The list of observed ranges:
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
A general method to retrieve the sensor pose on the robot.
bool validCovariances
True: The individual 3x3 covariance matrices must be taken into account, false (default): All the mea...
CObservationBearingRange()
Default constructor.
float yaw
The sensed landmark direction, in radians, measured as the yaw (azimuth) and pitch (negative elevatio...
int32_t landmarkID
The ID of the sensed beacon, or INVALID_LANDMARK_ID (-1) if the sensor does not identify the landmark...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
mrpt::math::CMatrixDouble33 covariance
The covariance matrix of the landmark, with variable indices [0,1,2] being [range,...
This observation represents a number of range-bearing value pairs, each one for a detected landmark,...
mrpt::poses::CPose3D sensorLocationOnRobot
The position of the sensor on the robot.
A numeric matrix of compile-time fixed size.
#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...
float fieldOfView_pitch
Information about the sensor: The "field-of-view" of the sensor, in radians (for pitch ).
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
A general method to change the sensor pose on the robot.
Declares a class that represents any robot's observation.
float fieldOfView_yaw
Information about the sensor: Ranges, in meters (0: there is no limits)
float range
The sensed landmark distance, in meters.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
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