karto::LocalizedRangeScan Class Reference

#include <Karto.h>

Inheritance diagram for karto::LocalizedRangeScan:

[legend]

List of all members.

Public Member Functions
const Pose2 &	GetBarycenterPose () const
const BoundingBox2 &	GetBoundingBox () const
const Pose2 &	GetCorrectedPose () const
const Pose2 &	GetOdometricPose () const
const PointVectorDouble &	GetPointReadings (kt_bool wantFiltered=false) const
Pose2	GetReferencePose (kt_bool useBarycenter) const
Pose2	GetSensorAt (const Pose2 &rPose) const
Pose2	GetSensorPose () const
	KARTO_Object (LocalizedRangeScan) public
void	SetCorrectedPose (const Pose2 &rPose)
void	SetOdometricPose (const Pose2 &rPose)
void	SetSensorPose (const Pose2 &rScanPose)
virtual	~LocalizedRangeScan ()
Private Member Functions
	LocalizedRangeScan (const LocalizedRangeScan &)
const LocalizedRangeScan &	operator= (const LocalizedRangeScan &)
void	Update ()
Private Attributes
Pose2	m_BarycenterPose
BoundingBox2	m_BoundingBox
Pose2	m_CorrectedPose
kt_bool	m_IsDirty
Pose2	m_OdometricPose
PointVectorDouble	m_PointReadings
PointVectorDouble	m_UnfilteredPointReadings

---

Detailed Description

The LocalizedRangeScan contains range data from a single sweep of a laser range finder sensor in a two-dimensional space and position information. The odometer position is the position reported by the robot when the range data was recorded. The corrected position is the position calculated by the mapper (or localizer)

Definition at line 4925 of file Karto.h.

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Constructor & Destructor Documentation

virtual karto::LocalizedRangeScan::~LocalizedRangeScan

(

)

[inline, virtual]

Destructor

Definition at line 4943 of file Karto.h.

karto::LocalizedRangeScan::LocalizedRangeScan

(

const LocalizedRangeScan &

)

[private]

---

Member Function Documentation

const Pose2& karto::LocalizedRangeScan::GetBarycenterPose

(

)

const [inline]

Gets barycenter of point readings

Definition at line 4993 of file Karto.h.

const BoundingBox2& karto::LocalizedRangeScan::GetBoundingBox

(

)

const [inline]

Gets the bounding box of this scan

Returns:

bounding box of this scan

Definition at line 5063 of file Karto.h.

const Pose2& karto::LocalizedRangeScan::GetCorrectedPose

(

)

const [inline]

Gets the (possibly corrected) robot pose at which this scan was taken. The corrected robot pose of the scan is usually set by an external module such as a localization or mapping module when it is determined that the original pose was incorrect. The external module will set the correct pose based on additional sensor data and any context information it has. If the pose has not been corrected, a call to this method returns the same pose as GetOdometricPose().

Returns:

corrected pose

Definition at line 4974 of file Karto.h.

const Pose2& karto::LocalizedRangeScan::GetOdometricPose

(

)

const [inline]

Gets the odometric pose of this scan

Returns:

odometric pose of this scan

Definition at line 4952 of file Karto.h.

const PointVectorDouble& karto::LocalizedRangeScan::GetPointReadings

(

kt_bool

wantFiltered = false

)

const [inline]

Get point readings in local coordinates

Definition at line 5077 of file Karto.h.

Pose2 karto::LocalizedRangeScan::GetReferencePose

(

kt_bool

useBarycenter

)

const [inline]

Gets barycenter if the given parameter is true, otherwise returns the scanner pose

Parameters:

useBarycenter

Returns:

barycenter if parameter is true, otherwise scanner pose

Definition at line 5009 of file Karto.h.

Pose2 karto::LocalizedRangeScan::GetSensorAt

(

const Pose2 &

rPose

)

const [inline]

Computes the position of the sensor if the robot were at the given pose

Parameters:

rPose

Returns:

sensor pose

Definition at line 5054 of file Karto.h.

Pose2 karto::LocalizedRangeScan::GetSensorPose

(

)

const [inline]

Computes the position of the sensor

Returns:

scan pose

Definition at line 5024 of file Karto.h.

karto::LocalizedRangeScan::KARTO_Object

(

LocalizedRangeScan

)

[inline]

Constructs a range scan from the given range finder with the given readings

Definition at line 4928 of file Karto.h.

const LocalizedRangeScan& karto::LocalizedRangeScan::operator=

(

const LocalizedRangeScan &

)

[private]

void karto::LocalizedRangeScan::SetCorrectedPose

(

const Pose2 &

rPose

)

[inline]

Moves the scan by moving the robot pose to the given location.

Parameters:

rPose

new pose of the robot of this scan

Definition at line 4983 of file Karto.h.

void karto::LocalizedRangeScan::SetOdometricPose

(

const Pose2 &

rPose

)

[inline]

Sets the odometric pose of this scan

Parameters:

rPose

Definition at line 4961 of file Karto.h.

void karto::LocalizedRangeScan::SetSensorPose

(

const Pose2 &

rScanPose

)

[inline]

Computes the robot pose given the corrected scan pose

Parameters:

rScanPose

pose of the sensor

Definition at line 5033 of file Karto.h.

void karto::LocalizedRangeScan::Update

(

)

[inline, private]

Compute point readings based on range readings Only range readings within [minimum range; range threshold] are returned

Definition at line 5100 of file Karto.h.

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Member Data Documentation

Pose2 karto::LocalizedRangeScan::m_BarycenterPose [private]

Average of all the point readings

Definition at line 5186 of file Karto.h.

BoundingBox2 karto::LocalizedRangeScan::m_BoundingBox [private]

Bounding box of localized range scan

Definition at line 5201 of file Karto.h.

Pose2 karto::LocalizedRangeScan::m_CorrectedPose [private]

Corrected pose of robot calculated by mapper (or localizer)

Definition at line 5181 of file Karto.h.

kt_bool karto::LocalizedRangeScan::m_IsDirty [private]

Internal flag used to update point readings, barycenter and bounding box

Definition at line 5206 of file Karto.h.

Pose2 karto::LocalizedRangeScan::m_OdometricPose [private]

Odometric pose of robot

Definition at line 5176 of file Karto.h.

PointVectorDouble karto::LocalizedRangeScan::m_PointReadings [private]

Vector of point readings

Definition at line 5191 of file Karto.h.

PointVectorDouble karto::LocalizedRangeScan::m_UnfilteredPointReadings [private]

Vector of unfiltered point readings

Definition at line 5196 of file Karto.h.

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The documentation for this class was generated from the following file:

• Karto.h