Go to the documentation of this file.00001
00011
00012 #include "worldlib/world/Observation.h"
00013
00014 using namespace std;
00015 using namespace rail::spatial_temporal_learning::worldlib::geometry;
00016 using namespace rail::spatial_temporal_learning::worldlib::world;
00017
00018 Observation::Observation(const Item &item, const Surface &surface, const Pose &pose, const ros::Time &time,
00019 const ros::Time &removed_estimate, const ros::Time &removed_observed)
00020 : item_(item), surface_(surface), pose_(pose), time_(time), removed_estimate_(removed_estimate),
00021 removed_observed_(removed_observed)
00022 {
00023 }
00024
00025 const Item &Observation::getItem() const
00026 {
00027 return item_;
00028 }
00029
00030 Item &Observation::getItem()
00031 {
00032 return item_;
00033 }
00034
00035 void Observation::setItem(const Item &item)
00036 {
00037 item_ = item;
00038 }
00039
00040 const Surface &Observation::getSurface() const
00041 {
00042 return surface_;
00043 }
00044
00045 Surface &Observation::getSurface()
00046 {
00047 return surface_;
00048 }
00049
00050 void Observation::setSurface(const Surface &surface)
00051 {
00052 surface_ = surface;
00053 }
00054
00055 const PlacementSurface &Observation::getPlacementSurface() const
00056 {
00057 return surface_.findClosestPlacementSurface(pose_.getPosition());
00058 }
00059
00060 const Pose &Observation::getPose() const
00061 {
00062 return pose_;
00063 }
00064
00065 Pose &Observation::getPose()
00066 {
00067 return pose_;
00068 }
00069
00070 void Observation::setPose(const Pose &pose)
00071 {
00072 pose_ = pose;
00073 }
00074
00075 const ros::Time &Observation::getTime() const
00076 {
00077 return time_;
00078 }
00079
00080 ros::Time &Observation::getTime()
00081 {
00082 return time_;
00083 }
00084
00085 void Observation::setTime(const ros::Time &time)
00086 {
00087 time_ = time;
00088 }
00089
00090 const ros::Time &Observation::getRemovedEstimate() const
00091 {
00092 return removed_estimate_;
00093 }
00094
00095 ros::Time &Observation::getRemovedEstimate()
00096 {
00097 return removed_estimate_;
00098 }
00099
00100 void Observation::setRemovedEstimate(const ros::Time &removed_estimate)
00101 {
00102 removed_estimate_ = removed_estimate;
00103 }
00104
00105 const ros::Time &Observation::getRemovedObserved() const
00106 {
00107 return removed_observed_;
00108 }
00109
00110 ros::Time &Observation::getRemovedObserved()
00111 {
00112 return removed_observed_;
00113 }
00114
00115 void Observation::setRemovedObserved(const ros::Time &removed_observed)
00116 {
00117 removed_observed_ = removed_observed;
00118 }