00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef CObservationRange_H 00029 #define CObservationRange_H 00030 00031 #include <mrpt/utils/CSerializable.h> 00032 #include <mrpt/slam/CObservation.h> 00033 #include <mrpt/poses/CPose3D.h> 00034 #include <mrpt/poses/CPose2D.h> 00035 00036 namespace mrpt 00037 { 00038 namespace slam 00039 { 00040 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationRange , CObservation,OBS_IMPEXP ) 00041 00042 /** Declares a class derived from "CObservation" that 00043 encapsules a single range measurement, and associated parameters. This can be used 00044 * for example to store measurements from infrared proximity sensors (IR) or ultrasonic sensors (sonars). 00045 * 00046 * \sa CObservation 00047 */ 00048 class OBS_IMPEXP CObservationRange : public CObservation 00049 { 00050 // This must be added to any CSerializable derived class: 00051 DEFINE_SERIALIZABLE( CObservationRange ) 00052 00053 public: 00054 /** Default constructor. 00055 */ 00056 CObservationRange( ); 00057 00058 /** The data members 00059 */ 00060 float minSensorDistance; 00061 float maxSensorDistance; 00062 float sensorConeApperture; //!< Cone aperture of each ultrasonic beam, in radians. 00063 00064 struct OBS_IMPEXP TMeasurement 00065 { 00066 TMeasurement() : sensorID(0), sensorPose(), sensedDistance(0) 00067 {} 00068 00069 /** Some kind of sensor ID which identifies it on the bus (if applicable, 0 otherwise) 00070 */ 00071 uint16_t sensorID; 00072 00073 /** The 6D position of the sensor on the robot. 00074 */ 00075 math::TPose3D sensorPose; 00076 00077 /** The measured range, in meters (or a value of 0 if there was no detected echo). 00078 */ 00079 float sensedDistance; 00080 }; 00081 00082 typedef std::deque<TMeasurement> TMeasurementList; 00083 typedef std::deque<TMeasurement>::const_iterator const_iterator; 00084 typedef std::deque<TMeasurement>::iterator iterator; 00085 00086 TMeasurementList sensedData; //!< All the measurements 00087 00088 00089 iterator begin() { return sensedData.begin(); } 00090 iterator end() { return sensedData.end(); } 00091 const_iterator begin() const { return sensedData.begin(); } 00092 const_iterator end() const { return sensedData.end(); } 00093 00094 /** A general method to retrieve the sensor pose on the robot. 00095 * Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases. 00096 * \sa setSensorPose 00097 */ 00098 void getSensorPose( CPose3D &out_sensorPose ) const; 00099 00100 00101 /** A general method to change the sensor pose on the robot. 00102 * Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases. 00103 * \sa getSensorPose 00104 */ 00105 void setSensorPose( const CPose3D &newSensorPose ); 00106 00107 00108 }; // End of class def. 00109 00110 00111 } // End of namespace 00112 } // End of namespace 00113 00114 #endif
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