00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2013, JSK (The University of Tokyo). 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef LASER_SCAN_RANGE_FILTER_H 00036 #define LASER_SCAN_RANGE_FILTER_H 00037 00043 #include "filters/filter_base.h" 00044 #include "sensor_msgs/LaserScan.h" 00045 00046 namespace laser_filters 00047 { 00048 00049 class LaserScanRangeFilter : public filters::FilterBase<sensor_msgs::LaserScan> 00050 { 00051 public: 00052 00053 double lower_threshold_ ; 00054 double upper_threshold_ ; 00055 bool use_message_range_limits_ ; 00056 float lower_replacement_value_ ; 00057 float upper_replacement_value_ ; 00058 00059 bool configure() 00060 { 00061 use_message_range_limits_ = false; 00062 getParam("use_message_range_limits", use_message_range_limits_); 00063 00064 // work around the not implemented getParam(std::string name, float& value) method 00065 double temp_replacement_value = std::numeric_limits<double>::quiet_NaN(); 00066 getParam("lower_replacement_value", temp_replacement_value); 00067 lower_replacement_value_ = static_cast<float>(temp_replacement_value); 00068 00069 // work around the not implemented getParam(std::string name, float& value) method 00070 temp_replacement_value = std::numeric_limits<double>::quiet_NaN(); 00071 getParam("upper_replacement_value", temp_replacement_value); 00072 upper_replacement_value_ = static_cast<float>(temp_replacement_value); 00073 00074 00075 lower_threshold_ = 0.0; 00076 upper_threshold_ = 100000.0; 00077 getParam("lower_threshold", lower_threshold_); 00078 getParam("upper_threshold", upper_threshold_) ; 00079 return true; 00080 } 00081 00082 virtual ~LaserScanRangeFilter() 00083 { 00084 00085 } 00086 00087 bool update(const sensor_msgs::LaserScan& input_scan, sensor_msgs::LaserScan& filtered_scan) 00088 { 00089 if (use_message_range_limits_) 00090 { 00091 lower_threshold_ = input_scan.range_min; 00092 upper_threshold_ = input_scan.range_max; 00093 } 00094 filtered_scan = input_scan; 00095 for (unsigned int i=0; 00096 i < input_scan.ranges.size(); 00097 i++) // Need to check ever reading in the current scan 00098 { 00099 00100 if (filtered_scan.ranges[i] <= lower_threshold_) 00101 { 00102 filtered_scan.ranges[i] = lower_replacement_value_; 00103 00104 } 00105 else if (filtered_scan.ranges[i] >= upper_threshold_) 00106 { 00107 filtered_scan.ranges[i] = upper_replacement_value_; 00108 } 00109 } 00110 00111 return true; 00112 } 00113 } ; 00114 00115 } 00116 00117 #endif // LASER_SCAN_RANGE_FILTER_H