laser_filters::ScanShadowsFilter Class Reference

#include <scan_shadows_filter.h>

Public Member Functions
bool	configure ()
double	getAngleWithViewpoint (float r1, float r2, float included_angle)
	calculate the perpendicular angle at the end of r1 to get to r2 See http://en.wikipedia.org/wiki/Law_of_cosines
	ScanShadowsFilter ()
bool	update (const sensor_msgs::LaserScan &scan_in, sensor_msgs::LaserScan &scan_out)
	Filter shadow points based on 3 global parameters: min_angle, max_angle and window. {min,max}_angle specify the allowed angle interval (in degrees) between the created lines (see getAngleWithViewPoint). Window specifies how many consecutive measurements to take into account for one point.
virtual	~ScanShadowsFilter ()
Public Attributes
double	laser_max_range_
double	max_angle_
double	min_angle_
int	neighbors_
int	window_

Detailed Description

ScanShadowsFilter is a simple filter that filters shadow points in a laser scan line

Definition at line 50 of file scan_shadows_filter.h.

Constructor & Destructor Documentation

laser_filters::ScanShadowsFilter::ScanShadowsFilter ( ) [inline]

Definition at line 54 of file scan_shadows_filter.h.

virtual laser_filters::ScanShadowsFilter::~ScanShadowsFilter ( ) [inline, virtual]

Definition at line 88 of file scan_shadows_filter.h.

Member Function Documentation

bool laser_filters::ScanShadowsFilter::configure ( ) [inline]

Configure the filter from XML

Definition at line 61 of file scan_shadows_filter.h.

double laser_filters::ScanShadowsFilter::getAngleWithViewpoint	(	float	r1,
		float	r2,
		float	included_angle
	)			`[inline]`

calculate the perpendicular angle at the end of r1 to get to r2 See http://en.wikipedia.org/wiki/Law_of_cosines

Definition at line 92 of file scan_shadows_filter.h.

bool laser_filters::ScanShadowsFilter::update	(	const sensor_msgs::LaserScan &	scan_in,
		sensor_msgs::LaserScan &	scan_out
	)			`[inline]`

Filter shadow points based on 3 global parameters: min_angle, max_angle and window. {min,max}_angle specify the allowed angle interval (in degrees) between the created lines (see getAngleWithViewPoint). Window specifies how many consecutive measurements to take into account for one point.

Parameters: