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