Class CObservationRobotPose

Inheritance Relationships

Base Type

Class Documentation

class CObservationRobotPose : public mrpt::obs::CObservation

An observation providing an alternative robot pose from an external source.

See also

CObservation

Public Functions

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

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

mrpt::poses::CPose3DPDFGaussian pose

The observed robot pose

mrpt::poses::CPose3D sensorPose

The pose of the sensor on the robot/vehicle