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#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_ |
ScanShadowsFilter is a simple filter that filters shadow points in a laser scan line
Definition at line 51 of file scan_shadows_filter.h.
laser_filters::ScanShadowsFilter::ScanShadowsFilter | ( | ) | [inline] |
Definition at line 61 of file scan_shadows_filter.h.
virtual laser_filters::ScanShadowsFilter::~ScanShadowsFilter | ( | ) | [inline, virtual] |
Definition at line 95 of file scan_shadows_filter.h.
bool laser_filters::ScanShadowsFilter::configure | ( | ) | [inline, virtual] |
Configure the filter from XML
Implements filters::FilterBase< sensor_msgs::LaserScan >.
Definition at line 68 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 99 of file scan_shadows_filter.h.
bool laser_filters::ScanShadowsFilter::update | ( | const sensor_msgs::LaserScan & | scan_in, | |
sensor_msgs::LaserScan & | scan_out | |||
) | [inline, virtual] |
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.
scan_in | the input LaserScan message | |
scan_out | the output LaserScan message |
Implements filters::FilterBase< sensor_msgs::LaserScan >.
Definition at line 113 of file scan_shadows_filter.h.
Definition at line 55 of file scan_shadows_filter.h.
Definition at line 56 of file scan_shadows_filter.h.
Definition at line 56 of file scan_shadows_filter.h.
Definition at line 57 of file scan_shadows_filter.h.
Definition at line 57 of file scan_shadows_filter.h.