Class LaserScan

Defined in File laser_scan.hpp

Inheritance Relationships

Base Type

public beluga::BaseLaserScan< LaserScan >

Class Documentation

class LaserScan : public beluga::BaseLaserScan<LaserScan>

Thin wrapper type for 2D sensor_msgs/LaserScan messages.

Public Types

using Scalar = double: Range type.

Public Functions

inline explicit LaserScan(beluga_ros::msg::LaserScanConstSharedPtr scan, Sophus::SE3d origin = Sophus::SE3d(), std::size_t max_beams = std::numeric_limits<std::size_t>::max(), Scalar min_range = std::numeric_limits<Scalar>::min(), Scalar max_range = std::numeric_limits<Scalar>::max())

Constructor.

Parameters:

scan – Laser scan message.
origin – Laser scan frame origin in the filter frame. Note it is a transform in 3D because the frame lidars typically report data in is in general not coplanar with the plane on which 2D localization operates.
max_beams – Maximum number of beams to consider.
min_range – Minimum allowed range value (in meters).
max_range – Maximum allowed range value (in meters).

inline const auto &origin() const: Get the laser scan frame origin in the filter frame.

inline auto angles() const: Get laser scan measurement angles as a range.

inline auto ranges() const: Get laser scan range measurements as a range.

inline std::size_t size() const: Get the number of beams in the scan.

inline auto min_range() const: Get the minimum range measurement.

inline auto max_range() const: Get the maximum range measurement.