Class CObservationRange

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

Class Documentation

class CObservationRange : public mrpt::obs::CObservation

Declares a class derived from “CObservation” that encapsules a single range measurement, and associated parameters. This can be used for example to store measurements from infrared proximity sensors (IR) or ultrasonic sensors (sonars).

See also

CObservation

Public Types

using TMeasurementList = std::deque<TMeasurement>
using const_iterator = std::deque<TMeasurement>::const_iterator
using iterator = std::deque<TMeasurement>::iterator

Public Functions

CObservationRange() = default
inline iterator begin()
inline iterator end()
inline const_iterator begin() const
inline const_iterator end() const
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

Public Members

float minSensorDistance = {0}

The data members

float maxSensorDistance = {5}
float sensorConeAperture = mrpt::d2f(20.0_deg)

Cone aperture of each ultrasonic beam, in radians.

TMeasurementList sensedData

All the measurements

struct TMeasurement

Public Functions

TMeasurement() = default

Public Members

uint16_t sensorID = 0

Some kind of sensor ID which identifies it on the bus (if applicable, 0 otherwise)

math::TPose3D sensorPose

The 6D position of the sensor on the robot.

float sensedDistance = 0

The measured range, in meters (or a value of 0 if there was no detected echo).

float sensorNoiseStdDeviation = 0

If !=0, the nominal sensor noise, as one standard deviation