Class CObservation6DFeatures
Defined in File CObservation6DFeatures.h
Nested Relationships
Nested Types
Inheritance Relationships
Base Type
public mrpt::obs::CObservation(Class CObservation)
Class Documentation
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class CObservation6DFeatures : public mrpt::obs::CObservation
An observation of one or more “features” or “objects”, possibly identified with a unique ID, whose relative SE(3) pose is observed with respect to the sensor. The list of features is stored in sensedFeatures
See also
Public Functions
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CObservation6DFeatures()
Default ctor
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virtual mrpt::poses::CPose3D getSensorPose() const override
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 A general method to retrieve the sensor pose on the robot, returning it by value.
See also
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virtual void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) override
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
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virtual void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the output stream.
Note
If overried by derived classes, call base CObservation::getDescriptionAsText() first to show common information.
Note
This is the text that appears in RawLogViewer when selecting an object in the dataset
Public Members
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float minSensorDistance = {0}
Information about the sensor
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float maxSensorDistance = {1e6f}
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std::deque<TMeasurement> sensedFeatures
The list of observed features
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mrpt::poses::CPose3D sensorPose
The pose of the sensor on the robot/vehicle
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CObservation6DFeatures()