CObservationReflectivity.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 CObservationReflectivity_H
#define CObservationReflectivity_H

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

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

        /** Declares a class derived from "CObservation" that encapsules a single short-range reflectivity measurement. 
         *    This can be used for example to store readings from IR sensors (Lego Mindstorm NXT, etc...).
         *
         * \sa mrpt::slam::CReflectivityGridMap2D, CObservation
         * \ingroup mrpt_obs_grp
         */
        class OBS_IMPEXP CObservationReflectivity : public CObservation
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CObservationReflectivity )

         public:
                CObservationReflectivity( );    //!< Default constructor.
                virtual ~CObservationReflectivity(); 

                /** The read reflectivity level, in the range [0,1] (0=black, 1=white).
                  */
                float reflectivityLevel;

                /** The pose of this sensor in robot's local coordinates.
                  */
                CPose3D sensorPose;

                /** 1-sigma of the sensor Gaussian noise (in the same normalized units than \a reflectivityLevel)
                  */
                float  sensorStdNoise;
                
                /** 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 = sensorPose; }

                /** 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 ) { sensorPose = newSensorPose; }

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

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

#endif