laser_slam::ScanIntersection Class Reference

Construct with the dimensions of the scan polygon, and then repeatedly call unseenProportion. More...

#include <scan_intersection.h>

List of all members.

Public Member Functions
bool	contains (const btTransform &scan, const btVector3 &pt) const
	Does scan polygon given scan pose scan contain point pt?
	ScanIntersection (const ScanIntersection &i)
	ScanIntersection (std::vector< btVector3 > poly, unsigned grid_size=100)
	Constructor precomputes some things given the polygon.
double	unseenProportion (const btTransform &scan, const std::vector< btTransform > &ref_scans) const
Private Attributes
btVector3	center_
float	circumradius2_
std::vector< btVector3 >	grid_
float	inradius2_
std::vector< btVector3 >	poly_

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Detailed Description

Construct with the dimensions of the scan polygon, and then repeatedly call unseenProportion.

Definition at line 51 of file scan_intersection.h.

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Constructor & Destructor Documentation

laser_slam::ScanIntersection::ScanIntersection	(	std::vector< btVector3 >	poly,
		unsigned	grid_size = 100
	)

Constructor precomputes some things given the polygon.

Parameters:

grid_size

The approximate number of points in the grid used for computing the Monte Carlo estimate of the intersection area

laser_slam::ScanIntersection::ScanIntersection

(

const ScanIntersection &

i

)

Definition at line 88 of file scan_intersection.cpp.

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Member Function Documentation

bool laser_slam::ScanIntersection::contains	(	const btTransform &	scan,
		const btVector3 &	pt
	)			const [inline]

Does scan polygon given scan pose scan contain point pt?

Definition at line 71 of file scan_intersection.h.

double laser_slam::ScanIntersection::unseenProportion	(	const btTransform &	scan,
		const std::vector< btTransform > &	ref_scans
	)			const

Return values:

Number

between 0 and 1. 1 means new scan is totally nonintersecting with existing ones and 0 means it's totally covered.

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Member Data Documentation

btVector3 laser_slam::ScanIntersection::center_ [private]

Definition at line 101 of file scan_intersection.h.

float laser_slam::ScanIntersection::circumradius2_ [private]

Definition at line 102 of file scan_intersection.h.

std::vector<btVector3> laser_slam::ScanIntersection::grid_ [private]

Definition at line 100 of file scan_intersection.h.

float laser_slam::ScanIntersection::inradius2_ [private]

Definition at line 102 of file scan_intersection.h.

std::vector<btVector3> laser_slam::ScanIntersection::poly_ [private]

Definition at line 99 of file scan_intersection.h.

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

• scan_intersection.h
• scan_intersection.cpp