Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters.
This can be used for example to store measurements from infrared proximity sensors (IR) or ultrasonic sensors (sonars).
Definition at line 48 of file CObservationRange.h.
#include <mrpt/slam/CObservationRange.h>
Classes | |
struct | TMeasurement |
Public Types | |
typedef std::deque< TMeasurement > | TMeasurementList |
typedef std::deque < TMeasurement > ::const_iterator | const_iterator |
typedef std::deque < TMeasurement >::iterator | iterator |
Public Member Functions | |
CObservationRange () | |
Default constructor. | |
iterator | begin () |
iterator | end () |
const_iterator | begin () const |
const_iterator | end () const |
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 |
The data members. | |
float | maxSensorDistance |
float | sensorConeApperture |
Cone aperture of each ultrasonic beam, in radians. | |
TMeasurementList | sensedData |
All the measurements. | |
RTTI stuff | |
| |
typedef CObservationRangePtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CObservationRange |
static mrpt::utils::TRuntimeClassId | classCObservationRange |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
Returns information about the class of an object in runtime. | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. | |
static mrpt::utils::CObject * | CreateObject () |
static CObservationRangePtr | Create () |
typedef std::deque<TMeasurement>::const_iterator mrpt::slam::CObservationRange::const_iterator |
Definition at line 83 of file CObservationRange.h.
typedef std::deque<TMeasurement>::iterator mrpt::slam::CObservationRange::iterator |
Definition at line 84 of file CObservationRange.h.
A typedef for the associated smart pointer
Definition at line 51 of file CObservationRange.h.
typedef std::deque<TMeasurement> mrpt::slam::CObservationRange::TMeasurementList |
Definition at line 82 of file CObservationRange.h.
mrpt::slam::CObservationRange::CObservationRange | ( | ) |
Default constructor.
static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationRange::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::slam::CObservation.
const_iterator mrpt::slam::CObservationRange::begin | ( | ) | const [inline] |
Definition at line 91 of file CObservationRange.h.
iterator mrpt::slam::CObservationRange::begin | ( | ) | [inline] |
Definition at line 89 of file CObservationRange.h.
static CObservationRangePtr mrpt::slam::CObservationRange::Create | ( | ) | [static] |
static mrpt::utils::CObject* mrpt::slam::CObservationRange::CreateObject | ( | ) | [static] |
virtual mrpt::utils::CObject* mrpt::slam::CObservationRange::duplicate | ( | ) | const [virtual] |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
const_iterator mrpt::slam::CObservationRange::end | ( | ) | const [inline] |
Definition at line 92 of file CObservationRange.h.
iterator mrpt::slam::CObservationRange::end | ( | ) | [inline] |
Definition at line 90 of file CObservationRange.h.
virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationRange::GetRuntimeClass | ( | ) | const [virtual] |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::slam::CObservation.
void mrpt::slam::CObservationRange::getSensorPose | ( | CPose3D & | out_sensorPose | ) | const [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.
void mrpt::slam::CObservationRange::setSensorPose | ( | const CPose3D & | newSensorPose | ) | [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.
mrpt::utils::CLASSINIT mrpt::slam::CObservationRange::_init_CObservationRange [static, protected] |
Definition at line 51 of file CObservationRange.h.
Definition at line 51 of file CObservationRange.h.
const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservationRange::classinfo [static] |
Definition at line 51 of file CObservationRange.h.
Definition at line 61 of file CObservationRange.h.
The data members.
Definition at line 60 of file CObservationRange.h.
All the measurements.
Definition at line 86 of file CObservationRange.h.
Cone aperture of each ultrasonic beam, in radians.
Definition at line 62 of file CObservationRange.h.
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