mrpt::slam::CSensoryFrame Class Reference

Declares a class for storing a "sensory frame", thus a set of "observations" of the robot, taken exactly from the same location.The "observations" can be of many different kinds. More...

#include <mrpt/slam/CSensoryFrame.h>

Inheritance diagram for mrpt::slam::CSensoryFrame:

List of all members.

Public Types

typedef std::deque
< CObservationPtr >::iterator iterator

You can use CSensoryFrame::begin to get a iterator to the first element.

typedef std::deque
< CObservationPtr >
::const_iterator const_iterator

You can use CSensoryFrame::begin to get a iterator to the first element.

Public Member Functions

CSensoryFrame ()

Default constructor.

CSensoryFrame (const CSensoryFrame &)

Copy constructor.

const CPointsMap * buildAuxPointsMap (CPointsMap::TInsertionOptions *ops=NULL) const

Build (only on the first call), and return a simple points map built from the observations in the SF (options can be optionally provided to the map building process).

CSensoryFrame & operator= (const CSensoryFrame &o)

Copy.

virtual ~CSensoryFrame ()

Destructor.

void clear ()

Clear all current observations.

bool insertObservationsInto (CMetricMap *theMap, const CPose3D *robotPose=NULL) const

Dump all observations in a metric map.

bool insertObservationsInto (CMetricMapPtr &theMap, const CPose3D *robotPose=NULL) const

Dump all observations in a metric map.

float likelihoodWith (const CSensoryFrame *anotherSF, const CPosePDF *anotherSFPose=NULL) const

Returns the average of "likelihoodWith" evaluated between all the observations of this and another sensoryframe.

void operator+= (const CSensoryFrame &sf)

You can use "sf1+=sf2;" to add observations in sf2 to sf1.

void operator+= (const CObservationPtr &obs)

You can use "sf+=obs;" to add the observation "obs" to the "sf1".

void moveFrom (CSensoryFrame &sf)

Copies all the observation from another object, then erase them from the origin object (this method is fast since only pointers are copied); Previous objects in this objects are not deleted.

void push_back (const CObservationPtr &obs)

Inserts a new observation to the list: The pointer to the objects is copied, thus DO NOT delete the passed object, this class will do at destructor or when appropriate.

void insert (const CObservationPtr &obs)

Inserts a new observation to the list: The pointer to the objects is copied, thus DO NOT delete the passed object, this class will do at destructor or when appropriate.

template<typename T >

T::SmartPtr getObservationByClass (const size_t &ith=0) const

Returns the i'th observation of a given class (or of a descendant class), or NULL if there is no such observation in the array.

const_iterator begin () const

Returns a iterator to the first observation: this is an example of usage:.

const_iterator end () const

Returns a iterator to the end of the list of observations: this is an example of usage:.

iterator begin ()

Returns a iterator to the first observation: this is an example of usage:.

iterator end ()

Returns a iterator to the end of the list of observations: this is an example of usage:.

size_t size () const

Returns the number of observations in the list.

void eraseByIndex (const size_t &idx)

Removes the i'th observation in the list (0=first).

iterator erase (const iterator &it)

Removes the given observation in the list, and return an iterator to the next element (or this->end() if it was the last one).

void eraseByLabel (const std::string &label)

Removes all the observations that match a given sensorLabel.

CObservationPtr getObservationByIndex (const size_t &idx) const

Returns the i'th observation in the list (0=first).

template<typename T >

T getObservationByIndexAs (const size_t &idx) const

Returns the i'th observation in the list (0=first), and as a different smart pointer type:.

CObservationPtr getObservationBySensorLabel (const std::string &label, const size_t &idx=0) const

Returns the i'th observation in the list with the given "sensorLabel" (0=first).

template<typename T >

T getObservationBySensorLabelAs (const std::string &label, const size_t &idx=0) const

Returns the i'th observation in the list with the given "sensorLabel" (0=first), and as a different smart pointer type:.

void swap (CSensoryFrame &sf)

Efficiently swaps the contents of two objects.

Protected Attributes

std::deque< CObservationPtr > m_observations

The set of observations taken at the same time instant.

Private Attributes

CObservation2DRangeScan::CAuxMapWrapper m_auxMap

Auxiliary points map, built only under request through buildAuxPointsMap.

Static Private Attributes

static mrpt::utils::CLASSINIT _init_CSensorialFrame

static mrpt::utils::TRuntimeClassId classCSensorialFrame

Detailed Description

Declares a class for storing a "sensory frame", thus a set of "observations" of the robot, taken exactly from the same location.The "observations" can be of many different kinds.

New observations can be added using:

                          CObservation          *o = new CObservationXXX(...);
                          CSensoryFrame  sf;
                          sf.insert(o);

The following methods are equivalent for adding new observations to a "sensory frame": CSensoryFrame::operator += CSensoryFrame::push_back CSensoryFrame::insert

To examine the objects within a sensory frame, the following methods exist: CSensoryFrame::getObservationByClass : Looks for some specific observation class. CSensoryFrame::begin : To iterate over all observations. CSensoryFrame::getObservationByIndex : To query by index.

Notice that observations objects are automatically deleted on Sensorial Frame destruction or clear.

See also:: CObservation

Definition at line 71 of file CSensoryFrame.h.

Member Typedef Documentation

typedef std::deque<CObservationPtr>::const_iterator mrpt::slam::CSensoryFrame::const_iterator

You can use CSensoryFrame::begin to get a iterator to the first element.

Definition at line 195 of file CSensoryFrame.h.

typedef std::deque<CObservationPtr>::iterator mrpt::slam::CSensoryFrame::iterator

You can use CSensoryFrame::begin to get a iterator to the first element.

Definition at line 191 of file CSensoryFrame.h.

Constructor & Destructor Documentation

mrpt::slam::CSensoryFrame::CSensoryFrame ( )

Default constructor.

mrpt::slam::CSensoryFrame::CSensoryFrame ( const CSensoryFrame & )

Copy constructor.

virtual mrpt::slam::CSensoryFrame::~CSensoryFrame ( ) [virtual]

Destructor.

Member Function Documentation

iterator mrpt::slam::CSensoryFrame::begin ( ) [inline]

Returns a iterator to the first observation: this is an example of usage:.

   CSensoryFrame  sf;
   ...
   for (CSensoryFrame::iterator it=sf.begin();it!=sf.end();++it)
          {
      (*it)->... // (*it) is a "CObservation*"
   }

Definition at line 234 of file CSensoryFrame.h.

const_iterator mrpt::slam::CSensoryFrame::begin ( ) const [inline]

Returns a iterator to the first observation: this is an example of usage:.

   CSensoryFrame  sf;
   ...
   for (CSensoryFrame::iterator it=sf.begin();it!=sf.end();++it)
          {
      (*it)->... // (*it) is a "CObservation*"
   }

Definition at line 208 of file CSensoryFrame.h.

const CPointsMap* mrpt::slam::CSensoryFrame::buildAuxPointsMap ( CPointsMap::TInsertionOptions * ops = NULL ) const

Build (only on the first call), and return a simple points map built from the observations in the SF (options can be optionally provided to the map building process).

void mrpt::slam::CSensoryFrame::clear ( )

Clear all current observations.

iterator mrpt::slam::CSensoryFrame::end ( ) [inline]

Returns a iterator to the end of the list of observations: this is an example of usage:.

   CSensoryFrame  sf;
   ...
   for (CSensoryFrame::iterator it=sf.begin();it!=sf.end();++it)
          {
      (*it)->... // (*it) is a "CObservation*"
   }

Definition at line 247 of file CSensoryFrame.h.

const_iterator mrpt::slam::CSensoryFrame::end ( ) const [inline]

Returns a iterator to the end of the list of observations: this is an example of usage:.

   CSensoryFrame  sf;
   ...
   for (CSensoryFrame::iterator it=sf.begin();it!=sf.end();++it)
          {
      (*it)->... // (*it) is a "CObservation*"
   }

Definition at line 221 of file CSensoryFrame.h.

iterator mrpt::slam::CSensoryFrame::erase ( const iterator & it )

Removes the given observation in the list, and return an iterator to the next element (or this->end() if it was the last one).

void mrpt::slam::CSensoryFrame::eraseByIndex ( const size_t & idx )

Removes the i'th observation in the list (0=first).

void mrpt::slam::CSensoryFrame::eraseByLabel ( const std::string & label )

Removes all the observations that match a given sensorLabel.

template<typename T >

T::SmartPtr mrpt::slam::CSensoryFrame::getObservationByClass ( const size_t & ith = 0 ) const [inline]

Returns the i'th observation of a given class (or of a descendant class), or NULL if there is no such observation in the array.

Example:

                                        CObservationImagePtr obs = m_SF->getObservationByClass<CObservationImage>();

By default (ith=0), the first observation is returned.

Definition at line 176 of file CSensoryFrame.h.

References MRPT_TRY_END, and MRPT_TRY_START.

CObservationPtr mrpt::slam::CSensoryFrame::getObservationByIndex ( const size_t & idx ) const

Returns the i'th observation in the list (0=first).

See also:: begin, size

template<typename T >

T mrpt::slam::CSensoryFrame::getObservationByIndexAs ( const size_t & idx ) const [inline]

Returns the i'th observation in the list (0=first), and as a different smart pointer type:.

   sf.getObservationByIndexAs<CObservationStereoImagesPtr>(i);

See also:: begin, size

Definition at line 278 of file CSensoryFrame.h.

CObservationPtr mrpt::slam::CSensoryFrame::getObservationBySensorLabel	(	const std::string &	label,
		const size_t &	idx = `0`
	)			const

Returns the i'th observation in the list with the given "sensorLabel" (0=first).

Returns:: The observation, or NULL if not found.

See also:: begin, size

template<typename T >

T mrpt::slam::CSensoryFrame::getObservationBySensorLabelAs	(	const std::string &	label,
		const size_t &	idx = `0`
	)			const `[inline]`

Returns the i'th observation in the list with the given "sensorLabel" (0=first), and as a different smart pointer type:.

   sf.getObservationBySensorLabelAs<CObservationStereoImagesPtr>(i);

See also:: begin, size

Definition at line 296 of file CSensoryFrame.h.

void mrpt::slam::CSensoryFrame::insert ( const CObservationPtr & obs )

Inserts a new observation to the list: The pointer to the objects is copied, thus DO NOT delete the passed object, this class will do at destructor or when appropriate.

bool mrpt::slam::CSensoryFrame::insertObservationsInto	(	CMetricMapPtr &	theMap,
		const CPose3D *	robotPose = `NULL`
	)			const `[inline]`

Dump all observations in a metric map.

It calls CObservation::insertObservationInto for all stored observation.

Parameters:

	theMap	The map where this observation is to be inserted: the map will be updated.
	robotPose	The pose of the robot base for this observation, relative to the target metric map. Set to NULL (default) to use (0,0,0deg)

Returns:: Returns true if the map has been updated, or false if this observations has nothing to do with a metric map (for example, a sound observation).

See also:: CObservation::insertObservationInto, CMetricMap::insertObservation

Definition at line 130 of file CSensoryFrame.h.

bool mrpt::slam::CSensoryFrame::insertObservationsInto	(	CMetricMap *	theMap,
		const CPose3D *	robotPose = `NULL`
	)			const

Dump all observations in a metric map.

It calls CObservation::insertObservationInto for all stored observation.

Parameters:

	theMap	The map where this observation is to be inserted: the map will be updated.
	robotPose	The pose of the robot base for this observation, relative to the target metric map. Set to NULL (default) to use (0,0,0deg)

Returns:: Returns true if the map has been updated, or false if this observations has nothing to do with a metric map (for example, a sound observation).

See also:: CObservation::insertObservationInto, CMetricMap::insertObservation

float mrpt::slam::CSensoryFrame::likelihoodWith	(	const CSensoryFrame *	anotherSF,
		const CPosePDF *	anotherSFPose = `NULL`
	)			const

Returns the average of "likelihoodWith" evaluated between all the observations of this and another sensoryframe.

Parameters:

	anotherSF	The other observations to compute likelihood with.
	anotherSFPose	If known, the belief about the relative robot pose when the other observations were taken can be supplied here, or NULL if it is unknown.

Returns:: Returns a likelihood measurement, in the range [0,1].

Exceptions:

std::exception

On any error, as another observation being of an invalid class.

void mrpt::slam::CSensoryFrame::moveFrom ( CSensoryFrame & sf )

Copies all the observation from another object, then erase them from the origin object (this method is fast since only pointers are copied); Previous objects in this objects are not deleted.

See also:: operator +=

void mrpt::slam::CSensoryFrame::operator+= ( const CObservationPtr & obs )

You can use "sf+=obs;" to add the observation "obs" to the "sf1".

Objects are copied, using the smart pointer, thus the original pointer can be safely deleted next.

See also:: moveFrom

void mrpt::slam::CSensoryFrame::operator+= ( const CSensoryFrame & sf )

You can use "sf1+=sf2;" to add observations in sf2 to sf1.

Objects are copied, not referenced, thus the source can be safely deleted next.

See also:: moveFrom

CSensoryFrame& mrpt::slam::CSensoryFrame::operator= ( const CSensoryFrame & o )

Copy.

void mrpt::slam::CSensoryFrame::push_back ( const CObservationPtr & obs )

Inserts a new observation to the list: The pointer to the objects is copied, thus DO NOT delete the passed object, this class will do at destructor or when appropriate.

size_t mrpt::slam::CSensoryFrame::size ( ) const

Returns the number of observations in the list.

void mrpt::slam::CSensoryFrame::swap ( CSensoryFrame & sf )

Efficiently swaps the contents of two objects.

Member Data Documentation

mrpt::utils::CLASSINIT mrpt::slam::CSensoryFrame::_init_CSensorialFrame [static, private]

Definition at line 78 of file CSensoryFrame.h.

mrpt::utils::TRuntimeClassId mrpt::slam::CSensoryFrame::classCSensorialFrame [static, private]

Definition at line 79 of file CSensoryFrame.h.

CObservation2DRangeScan::CAuxMapWrapper mrpt::slam::CSensoryFrame::m_auxMap [mutable, private]

Auxiliary points map, built only under request through buildAuxPointsMap.

Definition at line 83 of file CSensoryFrame.h.

std::deque<CObservationPtr> mrpt::slam::CSensoryFrame::m_observations [protected]

The set of observations taken at the same time instant.

See the top of this page for instructions on accessing this.

Definition at line 309 of file CSensoryFrame.h.


Public Types
typedef std::deque < CObservationPtr >::iterator	iterator
	You can use CSensoryFrame::begin to get a iterator to the first element.
typedef std::deque < CObservationPtr > ::const_iterator	const_iterator
	You can use CSensoryFrame::begin to get a iterator to the first element.
Public Member Functions
	CSensoryFrame ()
	Default constructor.
	CSensoryFrame (const CSensoryFrame &)
	Copy constructor.
const CPointsMap *	buildAuxPointsMap (CPointsMap::TInsertionOptions *ops=NULL) const
	Build (only on the first call), and return a simple points map built from the observations in the SF (options can be optionally provided to the map building process).
CSensoryFrame &	operator= (const CSensoryFrame &o)
	Copy.
virtual	~CSensoryFrame ()
	Destructor.
void	clear ()
	Clear all current observations.
bool	insertObservationsInto (CMetricMap theMap, const CPose3D robotPose=NULL) const
	Dump all observations in a metric map.
bool	insertObservationsInto (CMetricMapPtr &theMap, const CPose3D *robotPose=NULL) const
	Dump all observations in a metric map.
float	likelihoodWith (const CSensoryFrame anotherSF, const CPosePDF anotherSFPose=NULL) const
	Returns the average of "likelihoodWith" evaluated between all the observations of this and another sensoryframe.
void	operator+= (const CSensoryFrame &sf)
	You can use "sf1+=sf2;" to add observations in sf2 to sf1.
void	operator+= (const CObservationPtr &obs)
	You can use "sf+=obs;" to add the observation "obs" to the "sf1".
void	moveFrom (CSensoryFrame &sf)
	Copies all the observation from another object, then erase them from the origin object (this method is fast since only pointers are copied); Previous objects in this objects are not deleted.
void	push_back (const CObservationPtr &obs)
	Inserts a new observation to the list: The pointer to the objects is copied, thus DO NOT delete the passed object, this class will do at destructor or when appropriate.
void	insert (const CObservationPtr &obs)
	Inserts a new observation to the list: The pointer to the objects is copied, thus DO NOT delete the passed object, this class will do at destructor or when appropriate.
template<typename T >
T::SmartPtr	getObservationByClass (const size_t &ith=0) const
	Returns the i'th observation of a given class (or of a descendant class), or NULL if there is no such observation in the array.
const_iterator	begin () const
	Returns a iterator to the first observation: this is an example of usage:.
const_iterator	end () const
	Returns a iterator to the end of the list of observations: this is an example of usage:.
iterator	begin ()
	Returns a iterator to the first observation: this is an example of usage:.
iterator	end ()
	Returns a iterator to the end of the list of observations: this is an example of usage:.
size_t	size () const
	Returns the number of observations in the list.
void	eraseByIndex (const size_t &idx)
	Removes the i'th observation in the list (0=first).
iterator	erase (const iterator &it)
	Removes the given observation in the list, and return an iterator to the next element (or this->end() if it was the last one).
void	eraseByLabel (const std::string &label)
	Removes all the observations that match a given sensorLabel.
CObservationPtr	getObservationByIndex (const size_t &idx) const
	Returns the i'th observation in the list (0=first).
template<typename T >
T	getObservationByIndexAs (const size_t &idx) const
	Returns the i'th observation in the list (0=first), and as a different smart pointer type:.
CObservationPtr	getObservationBySensorLabel (const std::string &label, const size_t &idx=0) const
	Returns the i'th observation in the list with the given "sensorLabel" (0=first).
template<typename T >
T	getObservationBySensorLabelAs (const std::string &label, const size_t &idx=0) const
	Returns the i'th observation in the list with the given "sensorLabel" (0=first), and as a different smart pointer type:.
void	swap (CSensoryFrame &sf)
	Efficiently swaps the contents of two objects.
Protected Attributes
std::deque< CObservationPtr >	m_observations
	The set of observations taken at the same time instant.
Private Attributes
CObservation2DRangeScan::CAuxMapWrapper	m_auxMap
	Auxiliary points map, built only under request through buildAuxPointsMap.
Static Private Attributes
static mrpt::utils::CLASSINIT	_init_CSensorialFrame
static mrpt::utils::TRuntimeClassId	classCSensorialFrame