Class CObservationBeaconRanges

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

Class Documentation

class CObservationBeaconRanges : public mrpt::obs::CObservation

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

See also

CObservation

Public Functions

CObservationBeaconRanges()

ctor

void debugPrintOut()

Prints out the contents of the object

virtual void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) 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

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

getSensorPose

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

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

inline virtual bool exportTxtSupported() const override

Must return true if the class is exportable to TXT/CSV files, in which case the other virtual methods in this group must be redefined too.

virtual std::string exportTxtHeader() const override

Returns the description of the data columns. Timestamp is automatically included as the first column, do not list it. See example implementations if interested in enabling this in custom CObservation classes. Do not include newlines.

virtual std::string exportTxtDataRow() const override

Returns one row of data with the data stored in this particular object. Do not include newlines.

Public Members

float minSensorDistance = {0}

Info about sensor

float maxSensorDistance = {1e2f}
float stdError = {1e-2f}

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

std::deque<TMeasurement> sensedData

The list of observed ranges

mrpt::poses::CPose2D auxEstimatePose

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

struct TMeasurement

Each one of the measurements

Public Functions

inline TMeasurement()

Public Members

mrpt::poses::CPoint3D sensorLocationOnRobot

Position of the sensor on the robot

float sensedDistance = {0}

The sensed range itself (in meters).

int32_t beaconID

The ID of the sensed beacon (or INVALID_BEACON_ID if unknown)