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mrpt::slam::CObservationBeaconRanges Class Reference

Declares a class derived from "CObservation" that represents one (or more) range measurements to labeled beacons. More...

#include <mrpt/slam/CObservationBeaconRanges.h>

Inheritance diagram for mrpt::slam::CObservationBeaconRanges:

mrpt::slam::CObservation mrpt::utils::CSerializable

List of all members.

Classes

struct  TMeasurement
 Each one of the measurements:. More...

Public Member Functions

 CObservationBeaconRanges ()
 Default constructor.
float likelihoodWith (const CObservation *anotherObs, const CPosePDF *anotherObsPose=NULL) const
 Implements the virtual method in charge of finding the likelihood between this and another observation, probably only of the same derived class.
void debugPrintOut ()
 Prints out the contents of the object.
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.
float getSensedRangeByBeaconID (int32_t beaconID)
 Easy look-up into the vector sensedData, returns the range for a given beacon, or 0 if the beacon is not observed.

Public Attributes

float minSensorDistance
 Information about the sensor:.
float maxSensorDistance
float stdError
 The "sigma" of the sensor, assuming a zero-mean Gaussian noise model.
std::deque< TMeasurementsensedData
 The list of observed ranges:.
CPose2D auxEstimatePose
 The (X,Y,PHI) pose estimated by the UWB software, for comparison purposes (Added in streamming version 1).


Detailed Description

Declares a class derived from "CObservation" that represents one (or more) range measurements to labeled beacons.

See also:
CObservation

Definition at line 46 of file CObservationBeaconRanges.h.


Constructor & Destructor Documentation

mrpt::slam::CObservationBeaconRanges::CObservationBeaconRanges (  ) 

Default constructor.


Member Function Documentation

void mrpt::slam::CObservationBeaconRanges::debugPrintOut (  ) 

Prints out the contents of the object.

float mrpt::slam::CObservationBeaconRanges::getSensedRangeByBeaconID ( int32_t  beaconID  ) 

Easy look-up into the vector sensedData, returns the range for a given beacon, or 0 if the beacon is not observed.

void mrpt::slam::CObservationBeaconRanges::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.

See also:
setSensorPose

Implements mrpt::slam::CObservation.

float mrpt::slam::CObservationBeaconRanges::likelihoodWith ( const CObservation anotherObs,
const CPosePDF anotherObsPose = NULL 
) const [virtual]

Implements the virtual method in charge of finding the likelihood between this and another observation, probably only of the same derived class.

The operator may be asymmetric.

Parameters:
anotherObs The other observation to compute likelihood with.
anotherObsPose If known, the belief about the robot pose when the other observation was taken can be supplied here, or NULL if it is unknown.
Returns:
Returns a likelihood measurement, in the range [0,1].
Exceptions:
std::exception On any error, as another observation being of an invalid class.

Implements mrpt::slam::CObservation.

void mrpt::slam::CObservationBeaconRanges::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.

See also:
getSensorPose

Implements mrpt::slam::CObservation.


Member Data Documentation

The (X,Y,PHI) pose estimated by the UWB software, for comparison purposes (Added in streamming version 1).

Definition at line 90 of file CObservationBeaconRanges.h.

Definition at line 58 of file CObservationBeaconRanges.h.

Information about the sensor:.

Definition at line 58 of file CObservationBeaconRanges.h.

The list of observed ranges:.

Definition at line 86 of file CObservationBeaconRanges.h.

The "sigma" of the sensor, assuming a zero-mean Gaussian noise model.

Definition at line 62 of file CObservationBeaconRanges.h.




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