CObservationVisualLandmarks.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 CObservationVisualLandmarks_H
#define CObservationVisualLandmarks_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/slam/CObservation.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/slam/CLandmarksMap.h>

namespace mrpt
{
namespace slam
{
        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CObservationVisualLandmarks , CObservation, VISION_IMPEXP )

        /** Declares a class derived from "CObservation" that stores a Landmarks Map as seen from a stereo camera at a given instant of time.
         *
         * \sa CLandmarksMap, CObservation
         * \ingroup mrpt_vision_grp
         */
        class VISION_IMPEXP CObservationVisualLandmarks : public CObservation
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CObservationVisualLandmarks )

         public:
                /** Constructor
                 */
                CObservationVisualLandmarks( );

                /** The 3D pose of the reference camera relative to robot coordinates.
                  */
                CPose3D                         refCameraPose;

                 /** The landmarks, with coordinates origin in the camera reference system.
                  */
                CLandmarksMap           landmarks;

                /** Implements the virtual method in charge of finding the likelihood between this
                  *   and another observation, probably only of the same derived class. The operator
                  *   may be asymmetric.
                  *
                  * \param anotherObs The other observation to compute likelihood with.
                  * \param anotherObsPose If known, the belief about the robot pose when the other observation was taken can be supplied here, or NULL if it is unknown.
                  *
                  * \return Returns a likelihood measurement, in the range [0,1].
                  *     \exception std::exception On any error, as another observation being of an invalid class.
                  */
                 float  likelihoodWith( const CObservation *anotherObs, const CPosePDF *anotherObsPose = NULL ) const;

                /** 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 = refCameraPose; }


                /** 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 ) { refCameraPose = newSensorPose; }


        }; // End of class def.
        DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CObservationVisualLandmarks , CObservation, VISION_IMPEXP )


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

#endif