9 #ifndef CObservationBeaconRanges_H
10 #define CObservationBeaconRanges_H
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#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...
Declares a class derived from "CObservation" that represents one (or more) range measurements to labe...
float stdError
The "sigma" of the sensor, assuming a zero-mean Gaussian noise model.
float getSensedRangeByBeaconID(int32_t beaconID)
Easy look-up into the vector sensedData, returns the range for a given beacon, or 0 if the beacon is ...
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
A general method to change the sensor pose on the robot.
mrpt::poses::CPose2D auxEstimatePose
The (X,Y,PHI) pose estimated by the UWB software, for comparison purposes (Added in streamming versio...
void debugPrintOut()
Prints out the contents of the object.
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
A general method to retrieve the sensor pose on the robot.
CObservationBeaconRanges()
Default constructor.
void getDescriptionAsText(std::ostream &o) const MRPT_OVERRIDE
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
std::deque< TMeasurement > sensedData
The list of observed ranges:
Declares a class that represents any robot's observation.
A class used to store a 3D point.
A class used to store a 2D pose.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
#define INVALID_BEACON_ID
Used for CObservationBeaconRange.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Each one of the measurements:
mrpt::poses::CPoint3D sensorLocationOnRobot
The position of the sensor on the robot.
int32_t beaconID
The ID of the sensed beacon (or INVALID_BEACON_ID)
float sensedDistance
The sensed range itself (in meters).