karto::LocalizedObject Class Reference

#include <SensorData.h>

Inheritance diagram for karto::LocalizedObject:

Public Member Functions
	LocalizedObject (const Identifier &rSensorIdentifier)
Public Member Functions inherited from karto::Object
	Object ()
	Object (const Identifier &rIdentifier)
Public Member Functions inherited from karto::Referenced
	Referenced ()

Protected Member Functions
const Pose2 &	GetCorrectedPose () const
gps::PointGps	GetGpsEstimate () const
gps::PointGps	GetGpsReading () const
const Pose2 &	GetOdometricPose () const
kt_bool	IsGpsEstimateValid () const
kt_bool	IsGpsReadingValid () const
virtual void	SetCorrectedPose (const Pose2 &rPose)
void	SetGpsEstimate (const gps::PointGps &rGpsEstimate)
void	SetGpsEstimationManager (AbstractGpsEstimationManager *pGpsEstimationManager)
void	SetGpsReading (const gps::PointGps &rGpsReading)
void	SetOdometricPose (const Pose2 &rOdometricPose)
Protected Member Functions inherited from karto::SensorData
void	AddCustomItem (CustomItem *pCustomItem)
const CustomItemList &	GetCustomItems () const
const Identifier &	GetSensorIdentifier () const
kt_int32s	GetStateId () const
kt_int64s	GetTime () const
kt_int32s	GetUniqueId () const
kt_bool	HasCustomItem ()
	SensorData (const Identifier &rSensorIdentifier)
void	SetSensorIdentifier (const Identifier &rSensorIdentifier)
void	SetStateId (kt_int32s stateId)
void	SetTime (kt_int64s time)
void	SetUniqueId (kt_int32u uniqueId)
Protected Member Functions inherited from karto::Object
const Identifier &	GetIdentifier () const
AbstractParameter *	GetParameter (const String &rParameterName) const
template<typename T >
Parameter< T > *	GetParameter (const String &rParameterName) const
ParameterList	GetParameters ()
ParameterSet *	GetParameterSet ()
template<typename T >
void	SetParameters (const karto::String &rParameterName, const T &rValue)
Protected Member Functions inherited from karto::Referenced
kt_int32s	GetReferenceCount ()
kt_int32s	Reference () const
kt_int32s	Unreference () const
kt_int32s	UnreferenceNoDelete () const

Private Member Functions
	KARTO_RTTI ()

Private Attributes
Pose2	m_CorrectedPose
gps::PointGps	m_GpsEstimate
gps::PointGps	m_GpsReading
kt_bool	m_IsGpsEstimateValid
kt_bool	m_IsGpsReadingValid
Pose2	m_OdometricPose
AbstractGpsEstimationManager *	m_pGpsEstimationManager

Detailed Description

Base class for all localized sensor data

Definition at line 356 of file SensorData.h.

Constructor & Destructor Documentation

karto::LocalizedObject::LocalizedObject

(

const Identifier &

rSensorIdentifier

)

Localized object from the given sensor

Parameters

rSensorIdentifier

sensor identifier

Definition at line 91 of file SensorData.cpp.

Member Function Documentation

const Pose2& karto::LocalizedObject::GetCorrectedPose ( ) const

inlineprotected

Gets the (possibly corrected) robot pose at which this object was taken. The corrected robot pose of the object is usually set by an external module such as a localization or mapping module when it is determined that the original pose was incorrect. The external module will set the correct pose based on additional sensor data and any context information it has. If the pose has not been corrected, a call to this method returns the same pose as GetOdometricPose().

Returns

corrected pose

Definition at line 402 of file SensorData.h.

gps::PointGps karto::LocalizedObject::GetGpsEstimate ( ) const

inlineprotected

Gets the GPS estimate of this scan (return value is meaningless if IsGpsEstimateValid() returns false).

Returns

GPS estimate of this scan

Definition at line 450 of file SensorData.h.

gps::PointGps karto::LocalizedObject::GetGpsReading ( ) const

inlineprotected

Gets the GPS reading of this scan (return value is meaningless if IsGpsReadingValid() returns false).

Returns

GPS reading of this scan

Definition at line 421 of file SensorData.h.

const Pose2& karto::LocalizedObject::GetOdometricPose ( ) const

inlineprotected

public: /** Gets the odometric pose of this object

Returns

odometric pose of this object

Definition at line 380 of file SensorData.h.

kt_bool karto::LocalizedObject::IsGpsEstimateValid ( ) const

inlineprotected

Whether the GPS estimate is valid

Returns

whether the GPS estimate is valid

Definition at line 483 of file SensorData.h.

kt_bool karto::LocalizedObject::IsGpsReadingValid ( ) const

inlineprotected

Whether the GPS reading is valid

Returns

whether the GPS reading is valid

Definition at line 440 of file SensorData.h.

karto::LocalizedObject::KARTO_RTTI ( )

private

virtual void karto::LocalizedObject::SetCorrectedPose ( const Pose2 &  rPose )

inlineprotectedvirtual

Moves the object by moving the robot pose to the given location.

Parameters

rPose

new pose of the robot of this scan

Reimplemented in karto::LocalizedLaserScan.

Definition at line 411 of file SensorData.h.

void karto::LocalizedObject::SetGpsEstimate ( const gps::PointGps &  rGpsEstimate )

inlineprotected

Sets the GPS estimate of this scan

Parameters

rGpsEstimate

GPS estimate of this scan

Definition at line 466 of file SensorData.h.

void karto::LocalizedObject::SetGpsEstimationManager ( AbstractGpsEstimationManager *  pGpsEstimationManager )

inlineprotected

Sets the manager for estimating this scan's GPS coordinate

Parameters

pGpsEstimationManager

GPS estimation manager

Definition at line 499 of file SensorData.h.

void karto::LocalizedObject::SetGpsReading ( const gps::PointGps &  rGpsReading )

inlineprotected

Sets the GPS reading of this scan

Parameters

rGpsReading

GPS reading of this scan

Definition at line 430 of file SensorData.h.

void karto::LocalizedObject::SetOdometricPose ( const Pose2 &  rOdometricPose )

inlineprotected

Sets the odometric pose of this object

Parameters

rOdometricPose

new odometric pose

Definition at line 389 of file SensorData.h.

Member Data Documentation

Pose2 karto::LocalizedObject::m_CorrectedPose

private

Corrected pose of object calculated by mapper (or some other module)

Definition at line 513 of file SensorData.h.

gps::PointGps karto::LocalizedObject::m_GpsEstimate

private

GPS estimate of this object (value is meaningless if m_IsGpsEstimateValid is false).

Definition at line 530 of file SensorData.h.

gps::PointGps karto::LocalizedObject::m_GpsReading

private

GPS reading of this object (value is meaningless if m_IsGpsReadingValid is false).

Definition at line 519 of file SensorData.h.

kt_bool karto::LocalizedObject::m_IsGpsEstimateValid

private

Whether the GPS estimate is valid

Definition at line 535 of file SensorData.h.

kt_bool karto::LocalizedObject::m_IsGpsReadingValid

private

Whether the GPS reading is valid

Definition at line 524 of file SensorData.h.

Pose2 karto::LocalizedObject::m_OdometricPose

private

Odometric pose of object

Definition at line 508 of file SensorData.h.

AbstractGpsEstimationManager* karto::LocalizedObject::m_pGpsEstimationManager

private

Manages the location of robot in GPS coordinates

Definition at line 540 of file SensorData.h.

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The documentation for this class was generated from the following files:

• SensorData.h
• SensorData.cpp