CObservationBearingRange.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 CObservationBearingRange_H
#define CObservationBearingRange_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( CObservationBearingRange , CObservation, OBS_IMPEXP)

        /** This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs.
         *  This class can manage sensors that detect landmarks in a 2D plane (e.g. a laser scanner) or in the 3D space (e.g. a camera). There are
         *  two direction angles: yaw (azimuth) and pitch (negative elevation). For 2D sensors, the pitch must be always set to 0.
         * See CObservationBearingRange::validCovariances for the instructions to fill the uncertainty covariances.
         * \sa CObservation
         * \ingroup mrpt_obs_grp
         */
        class OBS_IMPEXP CObservationBearingRange : public CObservation
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CObservationBearingRange )

         public:
                /** Default constructor.
                 */
                CObservationBearingRange( );

                float minSensorDistance, maxSensorDistance;  //! Information about the sensor: Ranges, in meters (0: there is no limits)
                float fieldOfView_yaw;          //!< Information about the sensor: The "field-of-view" of the sensor, in radians (for yaw ).
                float fieldOfView_pitch;        //!< Information about the sensor: The "field-of-view" of the sensor, in radians (for pitch ).

                /** The position of the sensor on the robot.
                  */
                CPose3D         sensorLocationOnRobot;

                /** Each one of the measurements:
                        */
                struct OBS_IMPEXP TMeasurement
                {
                        /** The sensed landmark distance, in meters. */
                        float   range;

                        /** The sensed landmark direction, in radians, measured as the yaw (azimuth) and pitch (negative elevation).
                          *  Set pitch to zero for 2D sensors.
                          * See mrpt::poses::CPose3D for a definition of the 3D angles.
                          */
                        float   yaw,pitch;

                        /** The ID of the sensed beacon, or INVALID_LANDMARK_ID (-1) if the sensor does not identify the landmark. */
                        int32_t landmarkID;

                        /** The covariance matrix of the landmark, with variable indices [0,1,2] being [range,yaw,pitch]. */
                        mrpt::math::CMatrixDouble33 covariance;
                };

                typedef std::vector<TMeasurement> TMeasurementList;

                /** The list of observed ranges:  */
                TMeasurementList sensedData;

                /** True: The individual 3x3 covariance matrices must be taken into account, false (default): All the measurements have identical, diagonal 3x3 covariance matrices given by the values sensor_std_range,sensor_std_yaw,sensor_std_pitch.
                  */
                bool validCovariances;

                /** Taken into account only if validCovariances=false: the standard deviation of the sensor noise model for range,yaw and pitch (in meters and radians).
                  *  If validCovariances=true, these 3 values are ignored and the individual 3x3 covariance matrices contain the actual uncertainties for each of the detected landmarks.
                  */
                float sensor_std_range,sensor_std_yaw,sensor_std_pitch;

                 /** Prints out the contents of the object.
                   */
                 void  debugPrintOut();

                /** A general method to retrieve the sensor pose on the robot.
                  *  Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.
                  * \sa setSensorPose
                  */
                void getSensorPose( CPose3D &out_sensorPose ) const { out_sensorPose = sensorLocationOnRobot; }


                /** A general method to change the sensor pose on the robot.
                  *  Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.
                  * \sa getSensorPose
                  */
                void setSensorPose( const CPose3D &newSensorPose ) { sensorLocationOnRobot = newSensorPose; }


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


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

#endif