CObservation6DFeatures()
Default ctor.
mrpt::poses::CPose3D sensorPose
The pose of the sensor on the robot/vehicle.
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
void getDescriptionAsText(std::ostream &o) const override
Build a detailed, multi-line textual description of the observation contents and dump it to the outpu...
mrpt::poses::CPose3D pose
The observed feature SE(3) pose with respect to the sensor.
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const override
A general method to retrieve the sensor pose on the robot.
This namespace contains representation of robot actions and observations.
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) override
A general method to change the sensor pose on the robot.
A compile-time fixed-size numeric matrix container.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
An observation of one or more "features" or "objects", possibly identified with a unique ID,...
Each one of the measurements.
float minSensorDistance
Information about the sensor.
mrpt::math::CMatrixDouble66 inf_matrix
The inverse of the observation covariance matrix (default:all zeros)
std::deque< TMeasurement > sensedFeatures
The list of observed features.
TMeasurement()
Ctor with default values.
Declares a class that represents any robot's observation.
int32_t id
The feature ID, or INVALID_LANDMARK_ID if unidentified (default)
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