Public Member Functions | Protected Member Functions | Protected Attributes | Private Member Functions | Private Attributes
karto::LocalizedLaserScan Class Reference

#include <SensorData.h>

Inheritance diagram for karto::LocalizedLaserScan:
Inheritance graph
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List of all members.

Public Member Functions

const Pose2GetBarycenterPose () const
const BoundingBox2GetBoundingBox () const
LaserRangeFinderGetLaserRangeFinder () const
kt_size_t GetNumberOfRangeReadings () const
const Vector2dListGetPointReadings (kt_bool wantFiltered=false) const
const RangeReadingsListGetRangeReadings () const
Pose2 GetReferencePose (kt_bool useBarycenter) const
Pose2 GetSensorAt (const Pose2 &rPose) const
Pose2 GetSensorPose () const
virtual void SetCorrectedPose (const Pose2 &rCorrectedPose)
void SetSensorPose (const Pose2 &rSensorPose)

Protected Member Functions

virtual void ComputePointReadings ()=0
virtual const Vector2dListGetFilteredPointReadings () const
virtual const Vector2dListGetUnfilteredPointReadings () const
 LocalizedLaserScan (const Identifier &rSensorIdentifier)
void Update ()
virtual ~LocalizedLaserScan ()

Protected Attributes

Vector2dList m_FilteredPointReadings
RangeReadingsList m_RangeReadings
Vector2dList m_UnfilteredPointReadings

Private Member Functions

 KARTO_RTTI ()

Private Attributes

Pose2 m_BarycenterPose
BoundingBox2 m_BoundingBox
kt_bool m_IsDirty
Identifier m_SensorIdentifier

Detailed Description

Base class for localized laser scans

Definition at line 567 of file SensorData.h.


Constructor & Destructor Documentation

karto::LocalizedLaserScan::LocalizedLaserScan ( const Identifier rSensorIdentifier) [protected]

Localized laser scan from the given sensor

Parameters:
rSensorIdentifiersensor identifier

Definition at line 107 of file SensorData.cpp.

Definition at line 113 of file SensorData.cpp.


Member Function Documentation

virtual void karto::LocalizedLaserScan::ComputePointReadings ( ) [protected, pure virtual]

Computes point readings in global coordinates

Implemented in karto::LocalizedRangeScan, and karto::LocalizedPointScan.

Gets barycenter of point readings

Returns:
barycenter of point readings

Definition at line 596 of file SensorData.h.

Gets the bounding box of this scan

Returns:
bounding box of this scan

Definition at line 666 of file SensorData.h.

virtual const Vector2dList& karto::LocalizedLaserScan::GetFilteredPointReadings ( ) const [inline, protected, virtual]

Gets filtered points readings

Returns:
filtered point readings

Definition at line 724 of file SensorData.h.

Gets the laser range finder sensor that generated this scan

Returns:
laser range finder sensor of this scan

Definition at line 576 of file SensorData.h.

Gets the number of range readings

Returns:
number of range readings

Definition at line 697 of file SensorData.h.

const Vector2dList & karto::LocalizedLaserScan::GetPointReadings ( kt_bool  wantFiltered = false) const

Gets the point readings of this scan

Parameters:
wantFilteredwhether filtered points are to be included or not
Returns:
list of point readings

Definition at line 152 of file SensorData.cpp.

Gets the range readings of this scan

Returns:
range readings of this scan

Definition at line 688 of file SensorData.h.

Pose2 karto::LocalizedLaserScan::GetReferencePose ( kt_bool  useBarycenter) const [inline]

Gets barycenter if the given parameter is true, otherwise returns the scanner pose

Parameters:
useBarycenterwhether to use the barycenter as the reference pose
Returns:
barycenter if given parameter is true, otherwise scanner pose

Definition at line 612 of file SensorData.h.

Pose2 karto::LocalizedLaserScan::GetSensorAt ( const Pose2 rPose) const [inline]

Computes the position of the sensor if the robot were at the given pose

Parameters:
rPosehypothesized pose
Returns:
sensor pose at the given pose

Definition at line 657 of file SensorData.h.

Computes the position of the sensor

Returns:
sensor pose

Definition at line 627 of file SensorData.h.

virtual const Vector2dList& karto::LocalizedLaserScan::GetUnfilteredPointReadings ( ) const [inline, protected, virtual]

Gets raw points readings

Returns:
raw point readings

Definition at line 733 of file SensorData.h.

virtual void karto::LocalizedLaserScan::SetCorrectedPose ( const Pose2 rCorrectedPose) [inline, virtual]

Moves the scan by moving the robot pose to the given location.

Parameters:
rCorrectedPosenew pose of the robot of this scan

Reimplemented from karto::LocalizedObject.

Definition at line 585 of file SensorData.h.

void karto::LocalizedLaserScan::SetSensorPose ( const Pose2 rSensorPose) [inline]

Computes the robot pose from the given sensor pose

Parameters:
rSensorPosenew pose of the sensor

Definition at line 636 of file SensorData.h.

void karto::LocalizedLaserScan::Update ( ) [protected]

Computes the point readings, bounding box, and barycenter of the scan

Definition at line 117 of file SensorData.cpp.


Member Data Documentation

Average of all the point readings

Definition at line 763 of file SensorData.h.

Bounding box of localized range scan

Definition at line 768 of file SensorData.h.

List of filtered point readings

Definition at line 742 of file SensorData.h.

Internal flag used to update point readings, barycenter and bounding box

Definition at line 773 of file SensorData.h.

List of unfiltered ranges

Definition at line 752 of file SensorData.h.

Name of sensor that created this scan

Reimplemented from karto::SensorData.

Definition at line 758 of file SensorData.h.

List of unfiltered point readings

Definition at line 747 of file SensorData.h.


The documentation for this class was generated from the following files:


nav2d_karto
Author(s): Sebastian Kasperski
autogenerated on Sun Apr 2 2017 04:05:24