9 #ifndef CObservationBearingRange_H 10 #define CObservationBearingRange_H 39 float minSensorDistance, maxSensorDistance;
40 float fieldOfView_yaw;
41 float fieldOfView_pitch;
45 mrpt::poses::CPose3D sensorLocationOnRobot;
90 virtual void getDescriptionAsText(std::ostream &o)
const;
float range
The sensed landmark distance, in meters.
float yaw
The sensed landmark direction, in radians, measured as the yaw (azimuth) and pitch (negative elevatio...
int32_t landmarkID
The ID of the sensed beacon, or INVALID_LANDMARK_ID (-1) if the sensor does not identify the landmark...
A numeric matrix of compile-time fixed size.
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
std::vector< TMeasurement > TMeasurementList
Each one of the measurements:
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Declares a class that represents any robot's observation.
This observation represents a number of range-bearing value pairs, each one for a detected landmark...
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const
A general method to retrieve the sensor pose on the robot.
bool validCovariances
True: The individual 3x3 covariance matrices must be taken into account, false (default): All the mea...
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose)
A general method to change the sensor pose on the robot.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
TMeasurementList sensedData
The list of observed ranges:
mrpt::math::CMatrixDouble33 covariance
The covariance matrix of the landmark, with variable indices [0,1,2] being [range,yaw,pitch].