text: /* +------------------------------------------------------------------------+
     |                     Mobile Robot Programming Toolkit (MRPT)            |
     |                          https://www.mrpt.org/                         |
     |                                                                        |
     | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
     | See: https://www.mrpt.org/Authors - All rights reserved.               |
     | Released under BSD License. See: https://www.mrpt.org/License          |
     +------------------------------------------------------------------------+ */
  #pragma once
  
  #include <mrpt/obs/CObservation.h>
  #include <mrpt/poses/CPose3D.h>
  
  namespace mrpt::obs
  {
  /** 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::obs::CReflectivityGridMap2D, CObservation
   * \ingroup mrpt_obs_grp
   */
  class CObservationReflectivity : public CObservation
  {
  	DEFINE_SERIALIZABLE(CObservationReflectivity, mrpt::obs)
  
     public:
  	/** The read reflectivity level, in the range [0,1] (0=black, 1=white).
  	 */
  	float reflectivityLevel{0.5f};
  
  	/** The channel for this observation. If channel=-1, it can be inserted into
  	 * any CReflectivityGridMap2D. Otherwise, it can only be inserted into
  	 * reflectivity maps with the same channel. (Default=-1)
  	 */
  	int16_t channel{-1};
  
  	/** The pose of this sensor in robot's local coordinates.
  	 */
  	mrpt::poses::CPose3D sensorPose;
  
  	/** 1-sigma of the sensor Gaussian noise (in the same normalized units than
  	 * \a reflectivityLevel)
  	 */
  	float sensorStdNoise{0.2f};
  
  	// See base class docs
  	void getSensorPose(mrpt::poses::CPose3D& out_sensorPose) const override
  	{
  		out_sensorPose = sensorPose;
  	}
  	void setSensorPose(const mrpt::poses::CPose3D& newSensorPose) override
  	{
  		sensorPose = newSensorPose;
  	}
  	void getDescriptionAsText(std::ostream& o) const override;
  
  };  // End of class def.
  
  }  // namespace mrpt::obs
  