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10 #define COBSERVATION_H
27 #define INVALID_LANDMARK_ID (-1)
32 #define INVALID_BEACON_ID (-1)
82 template <
class METRICMAP>
85 return theMap->insertObservation(
this,robotPose);
bool insertObservationInto(METRICMAP *theMap, const mrpt::poses::CPose3D *robotPose=NULL) const
This method is equivalent to:
std::string sensorLabel
An arbitrary label that can be used to identify the sensor.
virtual void getDescriptionAsText(std::ostream &o) const
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
void setSensorPose(const mrpt::math::TPose3D &newSensorPose)
A general method to change the sensor pose on the robot.
virtual void load() const
Makes sure all images and other fields which may be externally stored are loaded in memory.
CObservation()
Constructor: It sets the initial timestamp to current time.
virtual void setSensorPose(const mrpt::poses::CPose3D &newSensorPose)=0
A general method to change the sensor pose on the robot.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
mrpt::system::TTimeStamp timestamp
The associated UTC time-stamp. Where available, this should contain the accurate satellite-based time...
uint64_t TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1,...
virtual void unload()
Unload all images, for the case they being delayed-load images stored in external files (othewise,...
void swap(CObservation &o)
Swap with another observation, ONLY the data defined here in the base class CObservation....
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_)
void getSensorPose(mrpt::math::TPose3D &out_sensorPose) const
A general method to retrieve the sensor pose on the robot.
Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).
#define DEFINE_VIRTUAL_SERIALIZABLE(class_name)
This declaration must be inserted in virtual CSerializable classes definition:
The virtual base class which provides a unified interface for all persistent objects in MRPT.
#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...
Declares a class that represents any robot's observation.
mrpt::system::TTimeStamp getTimeStamp() const
Returns CObservation::timestamp for all kind of observations.
virtual mrpt::system::TTimeStamp getOriginalReceivedTimeStamp() const
By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accura...
virtual void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const =0
A general method to retrieve the sensor pose on the robot.
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