Template Class BaseLaserScan

• Defined in File laser_scan.hpp

Inheritance Relationships

Base Type

• public ciabatta::ciabatta_top< Derived >

Class Documentation

template<typename Derived>
class BaseLaserScan : public ciabatta::ciabatta_top<Derived>

Laser scan 2D base type.

When instantiated, it satisfies Beluga named requirements: LaserScan.

Template Parameters:

Derived – Concrete laser scan type. It must define Derived::ranges(), Derived::angles(), Derived::min_range(), Derived::max_range(), as described in Beluga named requirements: LaserScan.

Public Functions

inline auto points_in_cartesian_coordinates() const

View points in cartesian coordinates in sensor frame.

inline auto points_in_polar_coordinates() const

View points in polar coordinates in sensor frame.

Range values lower than min_range or greater than max_range will be discarded. Same for NaN values.