Template Function mrpt::obs::utils::getObservation

• Defined in File obs_utils.h

Function Documentation

template<class OBSERVATION_T>
OBSERVATION_T::Ptr mrpt::obs::utils::getObservation(mrpt::obs::CSensoryFrame::Ptr &observations, mrpt::obs::CObservation::Ptr &observation, bool priority_to_sf = true)

Given an mrpt::obs::CSensoryFrame and a mrpt::obs::CObservation pointer if a OBSERVATION_T type observation is included and return a pointer to that instance.

Note

Pointer to a single instance is going to be returned. If a suitable observation exists in both the CSensoryFrame and CObservation the outcome is decided by the priority_to_sf flag

Returns:

Pointer to the observation of the given type. Otherwise, an empty Ptr object is returned if a valid observation is not found.