#include <Karto.h>
Detailed Description
The LocalizedRangeScan contains range data from a single sweep of a laser range finder sensor in a two-dimensional space and position information. The odometer position is the position reported by the robot when the range data was recorded. The corrected position is the position calculated by the mapper (or localizer)
Constructor & Destructor Documentation
| karto::LocalizedRangeScan::LocalizedRangeScan | ( | const Name & | rSensorName, |
| const RangeReadingsVector & | rReadings | ||
| ) | [inline] |
| virtual karto::LocalizedRangeScan::~LocalizedRangeScan | ( | ) | [inline, virtual] |
| karto::LocalizedRangeScan::LocalizedRangeScan | ( | const LocalizedRangeScan & | ) | [private] |
Member Function Documentation
| const Pose2& karto::LocalizedRangeScan::GetBarycenterPose | ( | ) | const [inline] |
| const BoundingBox2& karto::LocalizedRangeScan::GetBoundingBox | ( | ) | const [inline] |
| const Pose2& karto::LocalizedRangeScan::GetCorrectedPose | ( | ) | const [inline] |
Gets the (possibly corrected) robot pose at which this scan was taken. The corrected robot pose of the scan is usually set by an external module such as a localization or mapping module when it is determined that the original pose was incorrect. The external module will set the correct pose based on additional sensor data and any context information it has. If the pose has not been corrected, a call to this method returns the same pose as GetOdometricPose().
- Returns:
- corrected pose
| const Pose2& karto::LocalizedRangeScan::GetOdometricPose | ( | ) | const [inline] |
| const PointVectorDouble& karto::LocalizedRangeScan::GetPointReadings | ( | kt_bool | wantFiltered = false | ) | const [inline] |
| Pose2 karto::LocalizedRangeScan::GetReferencePose | ( | kt_bool | useBarycenter | ) | const [inline] |
| Pose2 karto::LocalizedRangeScan::GetSensorAt | ( | const Pose2 & | rPose | ) | const [inline] |
| Pose2 karto::LocalizedRangeScan::GetSensorPose | ( | ) | const [inline] |
| const LocalizedRangeScan& karto::LocalizedRangeScan::operator= | ( | const LocalizedRangeScan & | ) | [private] |
| void karto::LocalizedRangeScan::SetCorrectedPose | ( | const Pose2 & | rPose | ) | [inline] |
| void karto::LocalizedRangeScan::SetOdometricPose | ( | const Pose2 & | rPose | ) | [inline] |
| void karto::LocalizedRangeScan::SetSensorPose | ( | const Pose2 & | rScanPose | ) | [inline] |
| virtual void karto::LocalizedRangeScan::Update | ( | ) | [inline, private, virtual] |
Compute point readings based on range readings Only range readings within [minimum range; range threshold] are returned
Reimplemented in karto::LocalizedRangeScanWithPoints.
Member Data Documentation
Pose2 karto::LocalizedRangeScan::m_BarycenterPose [protected] |
BoundingBox2 karto::LocalizedRangeScan::m_BoundingBox [protected] |
kt_bool karto::LocalizedRangeScan::m_IsDirty [protected] |
boost::shared_mutex karto::LocalizedRangeScan::m_Lock [mutable, private] |
The documentation for this class was generated from the following file: