Declares a class that represents any robot's observation.
This is a base class for many types of sensor observations. Users can add new observation types creating a new class deriving from this one.
IMPORTANT: Observations don't include any information about the robot pose, just raw sensory data and, where aplicable, information about the sensor position and orientation in the local frame of the robot.
Definition at line 47 of file obs/CObservation.h.
#include <mrpt/obs/CObservation.h>
Public Member Functions | |
CObservation () | |
Constructor: It sets the initial timestamp to current time. | |
template<class METRICMAP > | |
bool | insertObservationInto (METRICMAP *theMap, const mrpt::poses::CPose3D *robotPose=NULL) const |
This method is equivalent to: | |
virtual void | getSensorPose (mrpt::poses::CPose3D &out_sensorPose) const =0 |
A general method to retrieve the sensor pose on the robot. | |
void | getSensorPose (mrpt::math::TPose3D &out_sensorPose) const |
A general method to retrieve the sensor pose on the robot. | |
virtual void | setSensorPose (const mrpt::poses::CPose3D &newSensorPose)=0 |
A general method to change the sensor pose on the robot. | |
void | setSensorPose (const mrpt::math::TPose3D &newSensorPose) |
A general method to change the sensor pose on the robot. | |
virtual void | getDescriptionAsText (std::ostream &o) const |
Build a detailed, multi-line textual description of the observation contents and dump it to the output stream. | |
Delayed-load manual control methods. | |
virtual void | load () const |
Makes sure all images and other fields which may be externally stored are loaded in memory. | |
virtual void | unload () |
Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect). | |
Protected Member Functions | |
void | swap (CObservation &o) |
Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data. | |
RTTI stuff <br> | |
static const mrpt::utils::TRuntimeClassId | classCObservation |
class | mrpt::utils::CStream |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const MRPT_OVERRIDE |
Data common to any observation | |
mrpt::system::TTimeStamp | timestamp |
The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading. | |
std::string | sensorLabel |
An arbitrary label that can be used to identify the sensor. | |
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) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp. | |
mrpt::obs::CObservation::CObservation | ( | ) |
Constructor: It sets the initial timestamp to current time.
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staticprotected |
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virtual |
Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.
Reimplemented in mrpt::obs::CObservation2DRangeScan, mrpt::obs::CObservation3DRangeScan, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationBatteryState, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationGPS, mrpt::obs::CObservationImage, mrpt::obs::CObservationIMU, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRange, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::obs::CObservationRGBD360, mrpt::obs::CObservationSkeleton, mrpt::obs::CObservationStereoImages, mrpt::obs::CObservationStereoImagesFeatures, mrpt::obs::CObservationVelodyneScan, mrpt::obs::CObservationWindSensor, mrpt::obs::CObservationWirelessPower, and mrpt::obs::CObservationVisualLandmarks.
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inlinevirtual |
By default, returns CObservation::timestamp but in sensors capable of satellite (or otherwise) accurate UTC timing of readings, this contains the computer-based timestamp of reception, which may be slightly different than timestamp.
Reimplemented in mrpt::obs::CObservationGPS, and mrpt::obs::CObservationVelodyneScan.
Definition at line 65 of file obs/CObservation.h.
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virtual |
Reimplemented in mrpt::obs::CObservation2DRangeScan, mrpt::obs::CObservation3DRangeScan, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationBatteryState, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationComment, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationGPS, mrpt::obs::CObservationImage, mrpt::obs::CObservationIMU, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRange, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::obs::CObservationRGBD360, mrpt::obs::CObservationSkeleton, mrpt::obs::CObservationStereoImages, mrpt::obs::CObservationStereoImagesFeatures, mrpt::obs::CObservationVelodyneScan, mrpt::obs::CObservationWindSensor, mrpt::obs::CObservationWirelessPower, and mrpt::obs::CObservationVisualLandmarks.
void mrpt::obs::CObservation::getSensorPose | ( | mrpt::math::TPose3D & | out_sensorPose | ) | const |
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.
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pure 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.
Implemented in mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationComment, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservation2DRangeScan, mrpt::obs::CObservation3DRangeScan, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationBatteryState, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationGPS, mrpt::obs::CObservationImage, mrpt::obs::CObservationIMU, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRange, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::obs::CObservationRGBD360, mrpt::obs::CObservationSkeleton, mrpt::obs::CObservationStereoImages, mrpt::obs::CObservationStereoImagesFeatures, mrpt::obs::CObservationVelodyneScan, mrpt::obs::CObservationWindSensor, mrpt::obs::CObservationWirelessPower, and mrpt::obs::CObservationVisualLandmarks.
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inline |
Returns CObservation::timestamp for all kind of observations.
Definition at line 63 of file obs/CObservation.h.
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inline |
This method is equivalent to:
theMap | The map where this observation is to be inserted: the map will be updated. |
robotPose | The pose of the robot base for this observation, relative to the target metric map. Set to NULL (default) to use (0,0,0deg) |
Definition at line 83 of file obs/CObservation.h.
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inlinevirtual |
Makes sure all images and other fields which may be externally stored are loaded in memory.
Note that for all CImages, calling load() is not required since the images will be automatically loaded upon first access, so load() shouldn't be needed to be called in normal cases by the user. If all the data were alredy loaded or this object has no externally stored data fields, calling this method has no effects.
Reimplemented in mrpt::obs::CObservation3DRangeScan.
Definition at line 125 of file obs/CObservation.h.
void mrpt::obs::CObservation::setSensorPose | ( | const mrpt::math::TPose3D & | newSensorPose | ) |
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.
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pure 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.
Implemented in mrpt::obs::CObservationCANBusJ1939, mrpt::obs::CObservationComment, mrpt::obs::CObservationOdometry, mrpt::obs::CObservationRawDAQ, mrpt::obs::CObservation2DRangeScan, mrpt::obs::CObservation3DRangeScan, mrpt::obs::CObservation6DFeatures, mrpt::obs::CObservationBatteryState, mrpt::obs::CObservationBeaconRanges, mrpt::obs::CObservationBearingRange, mrpt::obs::CObservationGasSensors, mrpt::obs::CObservationGPS, mrpt::obs::CObservationImage, mrpt::obs::CObservationIMU, mrpt::obs::CObservationRange, mrpt::obs::CObservationReflectivity, mrpt::obs::CObservationRFID, mrpt::obs::CObservationRGBD360, mrpt::obs::CObservationSkeleton, mrpt::obs::CObservationStereoImages, mrpt::obs::CObservationStereoImagesFeatures, mrpt::obs::CObservationVelodyneScan, mrpt::obs::CObservationWindSensor, mrpt::obs::CObservationWirelessPower, and mrpt::obs::CObservationVisualLandmarks.
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protected |
Swap with another observation, ONLY the data defined here in the base class CObservation. It's protected since it'll be only called from child classes that should know what else to swap appart from these common data.
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inlinevirtual |
Unload all images, for the case they being delayed-load images stored in external files (othewise, has no effect).
Reimplemented in mrpt::obs::CObservation3DRangeScan.
Definition at line 129 of file obs/CObservation.h.
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friend |
Definition at line 50 of file obs/CObservation.h.
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static |
Definition at line 50 of file obs/CObservation.h.
std::string mrpt::obs::CObservation::sensorLabel |
An arbitrary label that can be used to identify the sensor.
Definition at line 60 of file obs/CObservation.h.
mrpt::system::TTimeStamp mrpt::obs::CObservation::timestamp |
The associated UTC time-stamp. Where available, this should contain the accurate satellite-based timestamp of the sensor reading.
Definition at line 59 of file obs/CObservation.h.
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