#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
Each one of the measurements:
TMeasurementList sensedData
The list of observed ranges:
This namespace contains representation of robot actions and observations.
bool validCovariances
True: The individual 3x3 covariance matrices must be taken into account, false (default): All the mea...
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override
A general method to retrieve the sensor pose on the robot.
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) override
A general method to change the sensor pose on the robot.
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 class used to store a 3D pose (a 3D translation + a rotation in 3D).
mrpt::math::CMatrixDouble33 covariance
The covariance matrix of the landmark, with variable indices [0,1,2] being [range,...
float d2f(const double d)
shortcut for static_cast<float>(double)
This observation represents a number of range-bearing value pairs, each one for a detected landmark,...
mrpt::poses::CPose3D sensorLocationOnRobot
The position of the sensor on the robot.
void debugPrintOut()
Prints out the contents of the object.
float fieldOfView_pitch
Information about the sensor: The "field-of-view" of the sensor, in radians (for pitch ).
float sensor_std_range
Taken into account only if validCovariances=false: the standard deviation of the sensor noise model f...
Declares a class that represents any robot's observation.
float fieldOfView_yaw
Information about the.
void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
float range
The sensed landmark distance, in meters.
CObservationBearingRange()=default
std::vector< TMeasurement > TMeasurementList
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