Class CObservationReflectivity

Inheritance Relationships

Base Type

Class Documentation

class CObservationReflectivity : public mrpt::obs::CObservation

Declares a class derived from “CObservation” that encapsules a single short-range reflectivity measurement. This can be used for example to store readings from IR sensors (Lego Mindstorm NXT, etc…).

See also

mrpt::obs::CReflectivityGridMap2D, CObservation

Public Functions

inline 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

inline 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

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 reflectivityLevel = {0.5f}

The read reflectivity level, in the range [0,1] (0=black, 1=white).

int16_t channel = {-1}

The channel for this observation. If channel=-1, it can be inserted into any CReflectivityGridMap2D. Otherwise, it can only be inserted into reflectivity maps with the same channel. (Default=-1)

mrpt::poses::CPose3D sensorPose

The pose of this sensor in robot’s local coordinates.

float sensorStdNoise = {0.2f}

1-sigma of the sensor Gaussian noise (in the same normalized units than reflectivityLevel)