CObservation6DFeatures.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef CObservation6DFeatures_H
#define CObservation6DFeatures_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/slam/CObservation.h>
#include <mrpt/poses/CPose3D.h>

namespace mrpt
{
namespace slam
{
        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservation6DFeatures, CObservation, OBS_IMPEXP  )

        /** An observation of one or more "features" or "objects", possibly identified with a unique ID, whose relative SE(3) pose is observed with respect to the sensor.
         * The list of features is stored in \a sensedFeatures
         * \sa CObservation
         * \ingroup mrpt_obs_grp
         */
        class OBS_IMPEXP CObservation6DFeatures : public CObservation
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CObservation6DFeatures )
         public:
                CObservation6DFeatures( );  //!< Default ctor

                float   minSensorDistance, maxSensorDistance;  //!< Information about the sensor

                /** Each one of the measurements */
                struct OBS_IMPEXP TMeasurement
                {
                        mrpt::poses::CPose3D pose; //!< The observed feature SE(3) pose with respect to the sensor
                        int32_t              id;   //!< The feature ID, or INVALID_LANDMARK_ID if unidentified (default)
                        mrpt::math::CMatrixDouble66 inf_matrix; //!< The inverse of the observation covariance matrix (default:all zeros)

                        TMeasurement(); //!< Ctor with default values

                        MRPT_MAKE_ALIGNED_OPERATOR_NEW  // Required because we contain Eigen matrices
                };
                std::deque<TMeasurement> sensedFeatures; //!< The list of observed features

                mrpt::poses::CPose3D sensorPose; //!< The pose of the sensor on the robot/vehicle

                // See base class docs.
                void getSensorPose( CPose3D &out_sensorPose ) const;
                // See base class docs.
                void setSensorPose( const CPose3D &newSensorPose );

        }; // End of class def.
        DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CObservation6DFeatures, CObservation, OBS_IMPEXP  )

        } // End of namespace
} // End of namespace

#endif