crsm_laser.cpp
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00001 /*
00002  *      This file is part of CrsmSlam.
00003     CrsmSlam is free software: you can redistribute it and/or modify 
00004     it under the terms of the GNU General Public License as published by
00005     the Free Software Foundation, either version 3 of the License, or
00006     (at your option) any later version.
00007 
00008     CrsmSlam is distributed in the hope that it will be useful,
00009     but WITHOUT ANY WARRANTY; without even the implied warranty of
00010     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00011     GNU General Public License for more details.
00012 
00013     You should have received a copy of the GNU General Public License
00014     along with CrsmSlam.  If not, see <http://www.gnu.org/licenses/>.
00015 * 
00016 * Author : Manos Tsardoulias, etsardou@gmail.com
00017 * Organization : AUTH, PANDORA Robotics Team
00018 * */
00019 
00020 #include <crsm_slam/crsm_laser.h>
00021 
00022 namespace crsm_slam{
00023 
00027 CrsmLaser::CrsmLaser(void){
00028         initialized=false;
00029 }
00030 
00036 void CrsmLaser::initialize(const sensor_msgs::LaserScanConstPtr& msg){
00037         
00038         ROS_ASSERT(angles.size()==0);
00039         ROS_ASSERT(msg->angle_min<msg->angle_max);
00040         float angle=msg->angle_min;
00041         int count=0;
00042         
00043         while(count<msg->ranges.size()){
00044                 angles.push_back(angle);
00045                 count++;
00046                 angle= msg->angle_min + msg->angle_increment*count;
00047         }
00048         
00049         initialized=true;
00050         
00051         info.laserRays=msg->ranges.size();
00052         info.laserMax=msg->range_max;
00053         info.laserAngle=msg->angle_max-msg->angle_min;
00054         info.laserAngleBegin=msg->angle_min;
00055         info.laserAngleEnd=msg->angle_max;
00056         
00057         scan=CrsmLaserScan(msg->ranges.size());
00058         
00059         ROS_INFO("[CrsmSlam] CRSM Laser initialized");
00060 }
00061 
00062 }


crsm_slam
Author(s): Manos Tsardoulias
autogenerated on Sat Jun 8 2019 19:18:57