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[mrpt-obs]

Detailed Description

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Library mrpt-obs


In this library there are five key elements or groups of elements:

See the list of classes in mrpt::obs

Classes

class  mrpt::maps::CMetricMap
 Declares a virtual base class for all metric maps storage classes. More...
 
class  mrpt::maps::mrptEventMetricMapClear
 Event emitted by a metric up upon call of clear() More...
 
class  mrpt::maps::mrptEventMetricMapInsert
 Event emitted by a metric up upon a succesful call to insertObservation() More...
 
class  mrpt::maps::CSimpleMap
 This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be totally determined with this information. More...
 
struct  mrpt::maps::TMetricMapInitializer
 Virtual base for specifying the kind and parameters of one map (normally, to be inserted into mrpt::maps::CMultiMetricMap) See mrpt::maps::TSetOfMetricMapInitializers::loadFromConfigFile() as an easy way of initialize this object, or construct with the factory methods <metric_map_class>::MapDefinition() and TMetricMapInitializer::factory() More...
 
class  mrpt::maps::TSetOfMetricMapInitializers
 A set of TMetricMapInitializer structures, passed to the constructor CMultiMetricMap::CMultiMetricMap See the comments for TSetOfMetricMapInitializers::loadFromConfigFile, and "CMultiMetricMap::setListOfMaps" for effectively creating the list of desired maps. More...
 
class  mrpt::obs::CAction
 Declares a class for storing a robot action. More...
 
class  mrpt::obs::CActionCollection
 Declares a class for storing a collection of robot actions. More...
 
struct  mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel
 Options for the gaussian model, which generates a CPosePDFGaussian object in poseChange See docs in : http://www.mrpt.org/tutorials/programming/odometry-and-motion-models/probabilistic_motion_models/. More...
 
struct  mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel
 Options for the Thrun's model, which generates a CPosePDFParticles object in poseChange See docs in : http://www.mrpt.org/tutorials/programming/odometry-and-motion-models/probabilistic_motion_models/. More...
 
struct  mrpt::obs::CActionRobotMovement2D::TMotionModelOptions
 The parameter to be passed to "computeFromOdometry". More...
 
class  mrpt::obs::CActionRobotMovement2D
 Represents a probabilistic 2D movement of the robot mobile base. More...
 
class  mrpt::obs::CActionRobotMovement3D
 Represents a probabilistic 3D (6D) movement. More...
 
class  mrpt::obs::CObservation
 Declares a class that represents any robot's observation. More...
 
struct  mrpt::obs::T2DScanProperties
 Auxiliary struct that holds all the relevant geometry information about a 2D scan. More...
 
class  mrpt::obs::CObservation2DRangeScan
 A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser scanner). More...
 
struct  mrpt::obs::CObservation3DRangeScan::TPixelLabelInfoBase
 Virtual interface to all pixel-label information structs. More...
 
struct  mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo< BYTES_REQUIRED_ >
 
struct  mrpt::obs::CObservation3DRangeScan::TCached3DProjTables
 Look-up-table struct for project3DPointsFromDepthImageInto() More...
 
class  mrpt::obs::CObservation3DRangeScan
 Declares a class derived from "CObservation" that encapsules a 3D range scan measurement, as from a time-of-flight range camera or any other RGBD sensor. More...
 
struct  mrpt::obs::CObservation6DFeatures::TMeasurement
 Each one of the measurements. More...
 
class  mrpt::obs::CObservation6DFeatures
 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. More...
 
class  mrpt::obs::CObservationBatteryState
 This represents a measurement of the batteries on the robot. More...
 
struct  mrpt::obs::CObservationBeaconRanges::TMeasurement
 Each one of the measurements: More...
 
class  mrpt::obs::CObservationBeaconRanges
 Declares a class derived from "CObservation" that represents one (or more) range measurements to labeled beacons. More...
 
struct  mrpt::obs::CObservationBearingRange::TMeasurement
 Each one of the measurements: More...
 
class  mrpt::obs::CObservationBearingRange
 This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs. More...
 
class  mrpt::obs::CObservationCANBusJ1939
 This class stores a message from a CAN BUS with the protocol J1939. More...
 
class  mrpt::obs::CObservationComment
 This "observation" is actually a placeholder for a text block with comments or additional parameters attached to a given rawlog file. More...
 
struct  mrpt::obs::CObservationGasSensors::TObservationENose
 The structure for each e-nose. More...
 
struct  mrpt::obs::CObservationGasSensors::CMOSmodel::TdataMap
 The content of each m_lastObservations in the estimation when using the option : MOS_MODEl (useMOSmodel =1) More...
 
class  mrpt::obs::CObservationGasSensors::CMOSmodel
 Declares a class within "CObservationGasSensors" that represents a set of gas concentration readings from the modelation of a MOS gas sensor readings. More...
 
class  mrpt::obs::CObservationGasSensors
 Declares a class derived from "CObservation" that represents a set of readings from gas sensors. More...
 
struct  mrpt::obs::CObservationGPS::TUTCTime
 A UTC time-stamp structure for GPS messages. More...
 
struct  mrpt::obs::CObservationGPS::TGPSDatum_GGA
 The GPS datum for GGA commands. More...
 
struct  mrpt::obs::CObservationGPS::TGPSDatum_RMC
 The GPS datum for RMC commands. More...
 
struct  mrpt::obs::CObservationGPS::TGPSDatum_PZS
 The GPS datum for TopCon's mmGPS devices. More...
 
struct  mrpt::obs::CObservationGPS::TGPSDatum_SATS
 A generic structure for statistics about tracked satelites and their positions. More...
 
class  mrpt::obs::CObservationGPS
 Declares a class derived from "CObservation" that represents a Global Positioning System (GPS) reading. More...
 
class  mrpt::obs::CObservationImage
 Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored. More...
 
class  mrpt::obs::CObservationIMU
 This class stores measurements from an Inertial Measurement Unit (IMU) (attitude estimation, raw gyroscope and accelerometer values), altimeters or magnetometers. More...
 
class  mrpt::obs::CObservationOdometry
 An observation of the current (cumulative) odometry for a wheeled robot. More...
 
struct  mrpt::obs::CObservationRange::TMeasurement
 
class  mrpt::obs::CObservationRange
 Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters. More...
 
class  mrpt::obs::CObservationRawDAQ
 Store raw data from a Data Acquisition (DAQ) device, such that input or output analog and digital channels, counters from encoders, etc. More...
 
class  mrpt::obs::CObservationReflectivity
 Declares a class derived from "CObservation" that encapsules a single short-range reflectivity measurement. More...
 
struct  mrpt::obs::CObservationRFID::TTagReading
 Each of the individual readings of a RFID tag. More...
 
class  mrpt::obs::CObservationRFID
 This represents one or more RFID tags observed by a receiver. More...
 
class  mrpt::obs::CObservationRGBD360
 Declares a class derived from "CObservation" that encapsules an omnidirectional RGBD measurement from a set of RGBD sensors. More...
 
struct  mrpt::obs::CObservationSkeleton::TSkeletonJoint
 A generic joint for the skeleton observation. More...
 
class  mrpt::obs::CObservationSkeleton
 This class stores a skeleton as tracked by OPENNI2 & NITE2 libraries from PrimeSense sensors. More...
 
class  mrpt::obs::CObservationStereoImages
 Observation class for either a pair of left+right or left+disparity images from a stereo camera. More...
 
class  mrpt::obs::CObservationStereoImagesFeatures
 Declares a class derived from "CObservation" that encapsules a pair of cameras and a set of matched image features extracted from them. More...
 
class  mrpt::obs::CObservationWindSensor
 Declares a class derived from "CObservation" that represents the wind measurements taken on the robot by an anemometer. More...
 
class  mrpt::obs::CObservationWirelessPower
 This represents a measurement of the wireless strength perceived by the robot. More...
 
class  mrpt::obs::CRawlog::iterator
 A normal iterator, plus the extra method "getType" to determine the type of each entry in the sequence. More...
 
class  mrpt::obs::CRawlog::const_iterator
 A normal iterator, plus the extra method "getType" to determine the type of each entry in the sequence. More...
 
class  mrpt::obs::CRawlog
 This class stores a rawlog (robotic datasets) in one of two possible formats: More...
 
class  mrpt::obs::CSensoryFrame
 Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximately at the same time as one "snapshot" of the environment. More...
 
struct  mrpt::obs::CSinCosLookUpTableFor2DScans::TSinCosValues
 A pair of vectors with the cos and sin values. More...
 
class  mrpt::obs::CSinCosLookUpTableFor2DScans
 A smart look-up-table (LUT) of sin/cos values for 2D laser scans. More...
 

Namespaces

 mrpt::obs
 This namespace contains algorithms for SLAM, localization, map building, representation of robot's actions and observations, and representation of many kinds of metric maps.
 

Macros

#define INVALID_LANDMARK_ID   (-1)
 Used for CObservationBearingRange::TMeasurement::beaconID. More...
 
#define INVALID_BEACON_ID   (-1)
 Used for CObservationBeaconRange. More...
 

Enumerations

enum  mrpt::obs::CActionRobotMovement2D::TEstimationMethod { mrpt::obs::CActionRobotMovement2D::emOdometry = 0, mrpt::obs::CActionRobotMovement2D::emScan2DMatching }
 A list of posible ways for estimating the content of a CActionRobotMovement2D object. More...
 
enum  mrpt::obs::CActionRobotMovement2D::TDrawSampleMotionModel { mrpt::obs::CActionRobotMovement2D::mmGaussian = 0, mrpt::obs::CActionRobotMovement2D::mmThrun }
 
enum  mrpt::obs::CActionRobotMovement3D::TEstimationMethod { mrpt::obs::CActionRobotMovement3D::emOdometry = 0, mrpt::obs::CActionRobotMovement3D::emVisualOdometry }
 A list of posible ways for estimating the content of a CActionRobotMovement3D object. More...
 
enum  { mrpt::obs::CObservation3DRangeScan::TPixelLabelInfo< BYTES_REQUIRED_ >::BYTES_REQUIRED = BYTES_REQUIRED_ }
 
enum  mrpt::obs::TIMUDataIndex {
  mrpt::obs::IMU_X_ACC = 0, mrpt::obs::IMU_Y_ACC, mrpt::obs::IMU_Z_ACC, mrpt::obs::IMU_YAW_VEL,
  mrpt::obs::IMU_PITCH_VEL, mrpt::obs::IMU_ROLL_VEL, mrpt::obs::IMU_X_VEL, mrpt::obs::IMU_Y_VEL,
  mrpt::obs::IMU_Z_VEL, mrpt::obs::IMU_YAW, mrpt::obs::IMU_PITCH, mrpt::obs::IMU_ROLL,
  mrpt::obs::IMU_X, mrpt::obs::IMU_Y, mrpt::obs::IMU_Z, mrpt::obs::IMU_MAG_X,
  mrpt::obs::IMU_MAG_Y, mrpt::obs::IMU_MAG_Z, mrpt::obs::IMU_PRESSURE, mrpt::obs::IMU_ALTITUDE,
  mrpt::obs::IMU_TEMPERATURE, mrpt::obs::IMU_ORI_QUAT_X, mrpt::obs::IMU_ORI_QUAT_Y, mrpt::obs::IMU_ORI_QUAT_Z,
  mrpt::obs::IMU_ORI_QUAT_W, mrpt::obs::IMU_YAW_VEL_GLOBAL, mrpt::obs::IMU_PITCH_VEL_GLOBAL, mrpt::obs::IMU_ROLL_VEL_GLOBAL,
  mrpt::obs::IMU_X_ACC_GLOBAL, mrpt::obs::IMU_Y_ACC_GLOBAL, mrpt::obs::IMU_Z_ACC_GLOBAL, mrpt::obs::COUNT_IMU_DATA_FIELDS
}
 Symbolic names for the indices of IMU data (refer to mrpt::obs::CObservationIMU) More...
 
enum  mrpt::obs::CRawlog::TEntryType { mrpt::obs::CRawlog::etSensoryFrame = 0, mrpt::obs::CRawlog::etActionCollection, mrpt::obs::CRawlog::etObservation }
 The type of each entry in a rawlog. More...
 

Functions

bool OBS_IMPEXP mrpt::obs::carmen_log_parse_line (std::istream &in_stream, std::vector< mrpt::obs::CObservationPtr > &out_imported_observations, const mrpt::system::TTimeStamp &time_start_log)
 Parse one line from an text input stream and interpret it as a CARMEN log entry, returning its MRPT observation representation. More...
 

Intensity (RGB) channels

enum  mrpt::obs::CObservation3DRangeScan::TIntensityChannelID { mrpt::obs::CObservation3DRangeScan::CH_VISIBLE = 0, mrpt::obs::CObservation3DRangeScan::CH_IR = 1 }
 Enum type for intensityImageChannel. More...
 
bool mrpt::obs::CObservation3DRangeScan::hasIntensityImage
 true means the field intensityImage contains valid data More...
 
mrpt::utils::CImage mrpt::obs::CObservation3DRangeScan::intensityImage
 If hasIntensityImage=true, a color or gray-level intensity image of the same size than "rangeImage". More...
 
TIntensityChannelID mrpt::obs::CObservation3DRangeScan::intensityImageChannel
 The source of the intensityImage; typically the visible channel. More...
 

Macro Definition Documentation

#define INVALID_BEACON_ID   (-1)

Used for CObservationBeaconRange.

Definition at line 35 of file obs/CObservation.h.

#define INVALID_LANDMARK_ID   (-1)

Used for CObservationBearingRange::TMeasurement::beaconID.

Definition at line 30 of file obs/CObservation.h.

Enumeration Type Documentation

template<unsigned int BYTES_REQUIRED_>
anonymous enum
Enumerator
BYTES_REQUIRED 

Definition at line 372 of file obs/CObservation3DRangeScan.h.

Enumerator
mmGaussian 
mmThrun 

Definition at line 62 of file obs/CActionRobotMovement2D.h.

The type of each entry in a rawlog.

See also
CRawlog::getType
Enumerator
etSensoryFrame 
etActionCollection 
etObservation 

Definition at line 72 of file obs/CRawlog.h.

A list of posible ways for estimating the content of a CActionRobotMovement3D object.

Enumerator
emOdometry 
emVisualOdometry 

Definition at line 36 of file obs/CActionRobotMovement3D.h.

A list of posible ways for estimating the content of a CActionRobotMovement2D object.

Enumerator
emOdometry 
emScan2DMatching 

Definition at line 37 of file obs/CActionRobotMovement2D.h.

Symbolic names for the indices of IMU data (refer to mrpt::obs::CObservationIMU)

Enumerator
IMU_X_ACC 

x-axis acceleration (local/vehicle frame) (m/sec2)

IMU_Y_ACC 

y-axis acceleration (local/vehicle frame) (m/sec2)

IMU_Z_ACC 

z-axis acceleration (local/vehicle frame) (m/sec2)

IMU_YAW_VEL 

yaw angular velocity (local/vehicle frame) (rad/sec)

IMU_PITCH_VEL 

pitch angular velocity (local/vehicle frame) (rad/sec)

IMU_ROLL_VEL 

roll angular velocity (local/vehicle frame) (rad/sec)

IMU_X_VEL 

x-axis velocity (global/navigation frame) (m/sec)

IMU_Y_VEL 

y-axis velocity (global/navigation frame) (m/sec)

IMU_Z_VEL 

z-axis velocity (global/navigation frame) (m/sec)

IMU_YAW 

orientation yaw absolute value (global/navigation frame) (rad)

IMU_PITCH 

orientation pitch absolute value (global/navigation frame) (rad)

IMU_ROLL 

orientation roll absolute value (global/navigation frame) (rad)

IMU_X 

x absolute value (global/navigation frame) (meters)

IMU_Y 

y absolute value (global/navigation frame) (meters)

IMU_Z 

z absolute value (global/navigation frame) (meters)

IMU_MAG_X 

x magnetic field value (local/vehicle frame) (gauss)

IMU_MAG_Y 

y magnetic field value (local/vehicle frame) (gauss)

IMU_MAG_Z 

z magnetic field value (local/vehicle frame) (gauss)

IMU_PRESSURE 

air pressure (Pascals)

IMU_ALTITUDE 

altitude from an altimeter (meters)

IMU_TEMPERATURE 

temperature (degrees Celsius)

IMU_ORI_QUAT_X 

Orientation Quaternion X (global/navigation frame)

IMU_ORI_QUAT_Y 

Orientation Quaternion Y (global/navigation frame)

IMU_ORI_QUAT_Z 

Orientation Quaternion Z (global/navigation frame)

IMU_ORI_QUAT_W 

Orientation Quaternion W (global/navigation frame)

IMU_YAW_VEL_GLOBAL 

yaw angular velocity (global/navigation frame) (rad/sec)

IMU_PITCH_VEL_GLOBAL 

pitch angular velocity (global/navigation frame) (rad/sec)

IMU_ROLL_VEL_GLOBAL 

roll angular velocity (global/navigation frame) (rad/sec)

IMU_X_ACC_GLOBAL 

x-axis acceleration (global/navigation frame) (m/sec2)

IMU_Y_ACC_GLOBAL 

y-axis acceleration (global/navigation frame) (m/sec2)

IMU_Z_ACC_GLOBAL 

z-axis acceleration (global/navigation frame) (m/sec2)

COUNT_IMU_DATA_FIELDS 

Definition at line 28 of file obs/CObservationIMU.h.

Enum type for intensityImageChannel.

Enumerator
CH_VISIBLE 

Grayscale or RGB visible channel of the camera sensor.

CH_IR 

Infrarred (IR) channel.

Definition at line 280 of file obs/CObservation3DRangeScan.h.

Function Documentation

bool OBS_IMPEXP mrpt::obs::carmen_log_parse_line ( std::istream &  in_stream,
std::vector< mrpt::obs::CObservationPtr > &  out_imported_observations,
const mrpt::system::TTimeStamp time_start_log 
)

Parse one line from an text input stream and interpret it as a CARMEN log entry, returning its MRPT observation representation.

The first word in each line determines the type of that entry. Supported line entries in this class are the following:

Note that the sensor position on the robot will be always deduced from the corresponding CARMEN log line automatically.

The following entry types will be IGNORED, since with the tags above will be enough in most applications.

  • "ODOM"
  • "RAWLASER"

About the PARAM entries: This functions has an internal static status consisting on some PARAM values which have effects on the future read observations. When the function finds one of these, it stores the parameter value, return an empty vector of observations, and use those values for future laser entries of types FLASER or RLASER. Currently, only these parameters are processed:

  • "robot_front_laser_max"
  • "laser_front_laser_resolution"
  • "robot_rear_laser_max"
  • "laser_rear_laser_resolution"
Parameters
time_start_logThe real timestamp that corresponds to a "0" in the CARMEN log (you can get a mrpt::system::now() once and pass that same value with each call).

References: http://carmen.sourceforge.net/doc/binary__loggerplayback.html

Returns
true on success, false on end-of-file (EOF).
Exceptions
std::runtime_errorOn any invalid line found.

Variable Documentation

bool mrpt::obs::CObservation3DRangeScan::hasIntensityImage

true means the field intensityImage contains valid data

Definition at line 286 of file obs/CObservation3DRangeScan.h.

Referenced by mrpt::obs::detail::project3DPointsFromDepthImageInto().

mrpt::utils::CImage mrpt::obs::CObservation3DRangeScan::intensityImage

If hasIntensityImage=true, a color or gray-level intensity image of the same size than "rangeImage".

Definition at line 287 of file obs/CObservation3DRangeScan.h.

Referenced by mrpt::obs::detail::project3DPointsFromDepthImageInto().

TIntensityChannelID mrpt::obs::CObservation3DRangeScan::intensityImageChannel

The source of the intensityImage; typically the visible channel.

See also
TIntensityChannelID

Definition at line 288 of file obs/CObservation3DRangeScan.h.




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