rangereading.h
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00001 #ifndef RANGEREADING_H
00002 #define RANGEREADING_H
00003 
00004 #include <vector>
00005 #include <gmapping/sensor/sensor_base/sensorreading.h>
00006 #include <gmapping/sensor/sensor_range/rangesensor.h>
00007 
00008 namespace GMapping{
00009 
00010 class RangeReading: public SensorReading, public std::vector<double>{
00011         public:
00012                 RangeReading(const RangeSensor* rs, double time=0);
00013                 RangeReading(unsigned int n_beams, const double* d, const RangeSensor* rs, double time=0);
00014                 virtual ~RangeReading();
00015                 inline const OrientedPoint& getPose() const {return m_pose;}
00016                 inline void setPose(const OrientedPoint& pose) {m_pose=pose;}
00017                 unsigned int rawView(double* v, double density=0.) const;
00018                 std::vector<Point> cartesianForm(double maxRange=1e6) const;
00019                 unsigned int activeBeams(double density=0.) const;
00020         protected:
00021                 OrientedPoint m_pose;
00022 };
00023 
00024 };
00025 
00026 #endif


openslam_gmapping
Author(s): Giorgio Grisetti, Cyrill Stachniss, Wolfram Burgard
autogenerated on Thu Jun 6 2019 19:25:13