costmap_2d::Observation Class Reference

Stores an observation in terms of a point cloud and the origin of the source. More...

Public Member Functions
	Observation (pcl::PointCloud< pcl::PointXYZ > cloud, double obstacle_range)
	Creates an observation from a point cloud.
	Observation (const Observation &obs)
	Copy constructor.
	Observation (geometry_msgs::Point &origin, pcl::PointCloud< pcl::PointXYZ > cloud, double obstacle_range, double raytrace_range)
	Creates an observation from an origin point and a point cloud.
	Observation ()
	Creates an empty observation.
Public Attributes
pcl::PointCloud< pcl::PointXYZ >	cloud_
double	obstacle_range_
geometry_msgs::Point	origin_
double	raytrace_range_

Detailed Description

Stores an observation in terms of a point cloud and the origin of the source.

Note:: Tried to make members and constructor arguments const but the compiler would not accept the default assignment operator for vector insertion!

Definition at line 47 of file observation.h.

costmap_2d::Observation::Observation ( ) [inline]

Creates an empty observation.

Definition at line 52 of file observation.h.

costmap_2d::Observation::Observation	(	geometry_msgs::Point &	origin,
		pcl::PointCloud< pcl::PointXYZ >	cloud,
		double	obstacle_range,
		double	raytrace_range
	)			`[inline]`

Creates an observation from an origin point and a point cloud.

Parameters:

	origin	The origin point of the observation
	cloud	The point cloud of the observation
	obstacle_range	The range out to which an observation should be able to insert obstacles
	raytrace_range	The range out to which an observation should be able to clear via raytracing