#include <LaserReading.h>
Public Member Functions | |
| virtual AbstractReading * | clone () const |
| const std::vector< Point2D > & | getCartesian () const |
| const OrientedPoint2D & | getLaserPose () const |
| double | getMaxRange () const |
| const std::vector< double > & | getPhi () const |
| unsigned int | getPolar (const std::vector< double > *&_phi, const std::vector< double > *&_rho) const |
| const std::vector< double > & | getRemission () const |
| const std::vector< double > & | getRho () const |
| const std::vector< Point2D > & | getWorldCartesian () const |
| LaserReading (const std::vector< double > &_phi, const std::vector< double > &_rho, double _time=0.0, const std::string &_name="ROBOTLASER1", const std::string &_robot="") | |
| void | setLaserPose (const OrientedPoint2D &_pose) |
| void | setMaxRange (double _max) |
| void | setRemission (const std::vector< double > &_remi) |
| virtual | ~LaserReading () |
Protected Member Functions | |
| void | computeLocalCartesian () |
| void | computeWorldCartesian () |
Protected Attributes | |
| std::vector< Point2D > | m_cartesian |
| OrientedPoint2D | m_laserPose |
| double | m_maxRange |
| std::vector< double > | m_phi |
| std::vector< double > | m_remission |
| std::vector< double > | m_rho |
| std::vector< Point2D > | m_worldCartesian |
Representation of a laser measurement. This class represent a general laser reading in terms of both polar and Cartesian coordinates.
Definition at line 39 of file LaserReading.h.
| LaserReading::LaserReading | ( | const std::vector< double > & | _phi, | |
| const std::vector< double > & | _rho, | |||
| double | _time = 0.0, |
|||
| const std::string & | _name = "ROBOTLASER1", |
|||
| const std::string & | _robot = "" | |||
| ) |
Constructor. It creates the object by giving the reading in polar coordinates (_phi, _rho).
| _phi | The angles where the reading is taken. | |
| _rho | The distances measured by the laser. | |
| _time | The timestamp of the reading. | |
| _name | The name of the sensor. | |
| _robot | The name of the robot. |
| LaserReading::~LaserReading | ( | ) | [virtual] |
Destructor. It destructs the object.
Definition at line 20 of file LaserReading.cpp.
| AbstractReading * LaserReading::clone | ( | ) | const [virtual] |
Clone function for prototyping. It implements the Prototype pattern.
Implements AbstractReading.
Definition at line 62 of file LaserReading.cpp.
| void LaserReading::computeLocalCartesian | ( | ) | [protected] |
Compute world points. It transforms the polar reading into a cartesian one, considering the sensor being in (0,0,0).
Definition at line 49 of file LaserReading.cpp.
| void LaserReading::computeWorldCartesian | ( | ) | [protected] |
Compute world points. It transforms the polar reading into a cartesian one, considering the pose of the laser.
Definition at line 34 of file LaserReading.cpp.
| const std::vector<Point2D>& LaserReading::getCartesian | ( | ) | const [inline] |
Get local Cartesian coordinates. It returns the points measured by the laser in Cartesian coordinates. The points are considered in the sensor reference frame.
Definition at line 73 of file LaserReading.h.
| const OrientedPoint2D& LaserReading::getLaserPose | ( | ) | const [inline] |
Get laser pose. It returns the pose of the laser in the world.
Definition at line 88 of file LaserReading.h.
| double LaserReading::getMaxRange | ( | ) | const [inline] |
Get maximum range. It returns the maximum range of the sensor.
Definition at line 85 of file LaserReading.h.
| const std::vector<double>& LaserReading::getPhi | ( | ) | const [inline] |
Get the angles. It returns the angles where the reading is taken.
Definition at line 61 of file LaserReading.h.
| unsigned int LaserReading::getPolar | ( | const std::vector< double > *& | _phi, | |
| const std::vector< double > *& | _rho | |||
| ) | const [inline] |
Get angles and distances. It returns both angles, _phi, and distances, _rho, of the reading.
Definition at line 67 of file LaserReading.h.
| const std::vector<double>& LaserReading::getRemission | ( | ) | const [inline] |
Get remission values. It returns the remission values of the reading, if present.
Definition at line 82 of file LaserReading.h.
| const std::vector<double>& LaserReading::getRho | ( | ) | const [inline] |
Get the distances. It returns the distances measured by the laser
Definition at line 64 of file LaserReading.h.
| const std::vector<Point2D>& LaserReading::getWorldCartesian | ( | ) | const [inline] |
Get global Cartesian coordinates. It returns the points measured by the laser in Cartesian coordinates. The points are transormed in the world reference frame by using m_laserPose.
Definition at line 79 of file LaserReading.h.
| void LaserReading::setLaserPose | ( | const OrientedPoint2D & | _pose | ) |
Set laser pose. It sets the pose of the laser in the world.
Definition at line 29 of file LaserReading.cpp.
| void LaserReading::setMaxRange | ( | double | _max | ) | [inline] |
Set maximum range. It sets the maximum range of the sensor.
Definition at line 99 of file LaserReading.h.
| void LaserReading::setRemission | ( | const std::vector< double > & | _remi | ) |
Set reminiscence values. It sets the reminiscence values of the reading. It fails if the size of _remi is different than the size of m_phi .
std::vector<Point2D> LaserReading::m_cartesian [protected] |
The points in the sensor reference frame.
Definition at line 123 of file LaserReading.h.
OrientedPoint2D LaserReading::m_laserPose [protected] |
The pose of the laser.
Definition at line 115 of file LaserReading.h.
double LaserReading::m_maxRange [protected] |
The maximum range of the sensor.
Definition at line 113 of file LaserReading.h.
std::vector<double> LaserReading::m_phi [protected] |
The angles of the reading.
Definition at line 117 of file LaserReading.h.
std::vector<double> LaserReading::m_remission [protected] |
The reminiscence measured.
Definition at line 125 of file LaserReading.h.
std::vector<double> LaserReading::m_rho [protected] |
The distances measured.
Definition at line 119 of file LaserReading.h.
std::vector<Point2D> LaserReading::m_worldCartesian [protected] |
The points in the world reference frame.
Definition at line 121 of file LaserReading.h.
