karto::LaserRangeFinder Class Reference

#include <Karto.h>

Inheritance diagram for karto::LaserRangeFinder:

[legend]

List of all members.

Public Member Functions
kt_double	GetAngularResolution () const
kt_double	GetMaximumAngle () const
kt_double	GetMaximumRange () const
kt_double	GetMinimumAngle () const
kt_double	GetMinimumRange () const
kt_int32u	GetNumberOfRangeReadings () const
const PointVectorDouble	GetPointReadings (LocalizedRangeScan *pLocalizedRangeScan, CoordinateConverter *pCoordinateConverter, kt_bool ignoreThresholdPoints=true, kt_bool flipY=false) const
kt_double	GetRangeThreshold () const
kt_int32s	GetType ()
	KARTO_Object (LaserRangeFinder) public
void	SetAngularResolution (kt_double angularResolution)
void	SetMaximumAngle (kt_double maximumAngle)
void	SetMaximumRange (kt_double maximumRange)
void	SetMinimumAngle (kt_double minimumAngle)
void	SetMinimumRange (kt_double minimumRange)
void	SetRangeThreshold (kt_double rangeThreshold)
virtual kt_bool	Validate (SensorData *pSensorData)
virtual kt_bool	Validate ()
Static Public Member Functions
static LaserRangeFinder *	CreateLaserRangeFinder (LaserRangeFinderType type, const Name &rName)
Private Member Functions
	LaserRangeFinder (const LaserRangeFinder &)
	LaserRangeFinder (const Name &rName)
const LaserRangeFinder &	operator= (const LaserRangeFinder &)
void	Update ()
Private Attributes
kt_int32u	m_NumberOfRangeReadings
Parameter< kt_double > *	m_pAngularResolution
Parameter< kt_double > *	m_pMaximumAngle
Parameter< kt_double > *	m_pMaximumRange
Parameter< kt_double > *	m_pMinimumAngle
Parameter< kt_double > *	m_pMinimumRange
Parameter< kt_double > *	m_pRangeThreshold
ParameterEnum *	m_pType

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Detailed Description

The LaserRangeFinder defines a laser sensor that provides the pose offset position of a localized range scan relative to the robot. The user can set an offset pose for the sensor relative to the robot coordinate system. If no value is provided by the user, the sensor is set to be at the origin of the robot coordinate system. The LaserRangeFinder contains parameters for physical laser sensor used by the mapper for scan matching Also contains information about the maximum range of the sensor and provides a threshold for limiting the range of readings. The optimal value for the range threshold depends on the angular resolution of the scan and the desired map resolution. RangeThreshold should be set as large as possible while still providing "solid" coverage between consecutive range readings. The diagram below illustrates the relationship between map resolution and the range threshold.

Definition at line 3560 of file Karto.h.

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Constructor & Destructor Documentation

karto::LaserRangeFinder::LaserRangeFinder

(

const Name &

rName

)

[inline, private]

Constructs a LaserRangeFinder object with given ID

Definition at line 3934 of file Karto.h.

karto::LaserRangeFinder::LaserRangeFinder

(

const LaserRangeFinder &

)

[private]

---

Member Function Documentation

static LaserRangeFinder* karto::LaserRangeFinder::CreateLaserRangeFinder	(	LaserRangeFinderType	type,
		const Name &	rName
	)			[inline, static]

Create a laser range finder of the given type and ID

Parameters:

	type
	rName	name of sensor - if no name is specified default name will be assigned

Returns:

laser range finder

Definition at line 3788 of file Karto.h.

kt_double karto::LaserRangeFinder::GetAngularResolution

(

)

const [inline]

Gets this range finder sensor's angular resolution

Returns:

angular resolution

Definition at line 3682 of file Karto.h.

kt_double karto::LaserRangeFinder::GetMaximumAngle

(

)

const [inline]

Gets this range finder sensor's maximum angle

Returns:

maximum angle

Definition at line 3662 of file Karto.h.

kt_double karto::LaserRangeFinder::GetMaximumRange

(

)

const [inline]

Gets this range finder sensor's maximum range

Returns:

maximum range

Definition at line 3598 of file Karto.h.

kt_double karto::LaserRangeFinder::GetMinimumAngle

(

)

const [inline]

Gets this range finder sensor's minimum angle

Returns:

minimum angle

Definition at line 3642 of file Karto.h.

kt_double karto::LaserRangeFinder::GetMinimumRange

(

)

const [inline]

Gets this range finder sensor's minimum range

Returns:

minimum range

Definition at line 3578 of file Karto.h.

kt_int32u karto::LaserRangeFinder::GetNumberOfRangeReadings

(

)

const [inline]

Gets the number of range readings each localized range scan must contain to be a valid scan.

Returns:

number of range readings

Definition at line 3755 of file Karto.h.

const PointVectorDouble karto::LaserRangeFinder::GetPointReadings	(	LocalizedRangeScan *	pLocalizedRangeScan,
		CoordinateConverter *	pCoordinateConverter,
		kt_bool	ignoreThresholdPoints = true,
		kt_bool	flipY = false
	)			const

Get point readings (potentially scale readings if given coordinate converter is not null)

Parameters:

pCoordinateConverter

Definition at line 142 of file Karto.cpp.

kt_double karto::LaserRangeFinder::GetRangeThreshold

(

)

const [inline]

Gets the range threshold

Returns:

range threshold

Definition at line 3618 of file Karto.h.

kt_int32s karto::LaserRangeFinder::GetType

(

)

[inline]

Definition at line 3746 of file Karto.h.

karto::LaserRangeFinder::KARTO_Object

(

LaserRangeFinder

)

[inline]

Destructor

Definition at line 3563 of file Karto.h.

const LaserRangeFinder& karto::LaserRangeFinder::operator=

(

const LaserRangeFinder &

)

[private]

void karto::LaserRangeFinder::SetAngularResolution

(

kt_double

angularResolution

)

[inline]

Sets this range finder sensor's angular resolution

Parameters:

angularResolution

Definition at line 3691 of file Karto.h.

void karto::LaserRangeFinder::SetMaximumAngle

(

kt_double

maximumAngle

)

[inline]

Sets this range finder sensor's maximum angle

Parameters:

maximumAngle

Definition at line 3671 of file Karto.h.

void karto::LaserRangeFinder::SetMaximumRange

(

kt_double

maximumRange

)

[inline]

Sets this range finder sensor's maximum range

Parameters:

maximumRange

Definition at line 3607 of file Karto.h.

void karto::LaserRangeFinder::SetMinimumAngle

(

kt_double

minimumAngle

)

[inline]

Sets this range finder sensor's minimum angle

Parameters:

minimumAngle

Definition at line 3651 of file Karto.h.

void karto::LaserRangeFinder::SetMinimumRange

(

kt_double

minimumRange

)

[inline]

Sets this range finder sensor's minimum range

Parameters:

minimumRange

Definition at line 3587 of file Karto.h.

void karto::LaserRangeFinder::SetRangeThreshold

(

kt_double

rangeThreshold

)

[inline]

Sets the range threshold

Parameters:

rangeThreshold

Definition at line 3627 of file Karto.h.

void karto::LaserRangeFinder::Update

(

)

[inline, private]

Set the number of range readings based on the minimum and maximum angles of the sensor and the angular resolution

Definition at line 3960 of file Karto.h.

kt_bool karto::LaserRangeFinder::Validate

(

SensorData *

pSensorData

)

[virtual]

Validates sensor data

Parameters:

pSensorData

sensor data

Returns:

true if valid

Implements karto::Sensor.

Definition at line 187 of file Karto.cpp.

virtual kt_bool karto::LaserRangeFinder::Validate

(

)

[inline, virtual]

Validates sensor

Returns:

true if valid

Implements karto::Sensor.

Definition at line 3760 of file Karto.h.

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Member Data Documentation

kt_int32u karto::LaserRangeFinder::m_NumberOfRangeReadings [private]

Definition at line 3983 of file Karto.h.

Parameter<kt_double>* karto::LaserRangeFinder::m_pAngularResolution [private]

Definition at line 3974 of file Karto.h.

Parameter<kt_double>* karto::LaserRangeFinder::m_pMaximumAngle [private]

Definition at line 3972 of file Karto.h.

Parameter<kt_double>* karto::LaserRangeFinder::m_pMaximumRange [private]

Definition at line 3977 of file Karto.h.

Parameter<kt_double>* karto::LaserRangeFinder::m_pMinimumAngle [private]

Definition at line 3971 of file Karto.h.

Parameter<kt_double>* karto::LaserRangeFinder::m_pMinimumRange [private]

Definition at line 3976 of file Karto.h.

Parameter<kt_double>* karto::LaserRangeFinder::m_pRangeThreshold [private]

Definition at line 3979 of file Karto.h.

ParameterEnum* karto::LaserRangeFinder::m_pType [private]

Definition at line 3981 of file Karto.h.

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

• Karto.h
• Karto.cpp