Class responsibilities: observes laser scans and odometry; converts ROS structures to internal representation. More...

#include <laser_scan_observer.h>

Inheritance diagram for LaserScanObserver:

Public Member Functions
virtual void	handle_laser_scan (TransformedLaserScan &)=0
virtual void	handle_transformed_msg (const ScanPtr msg, const tf::StampedTransform &t)
	Converts ROS-specific structures that hold sensor data to internal framework's structures; Laser scan filtering is performed as part of the conversion.
	LaserScanObserver (bool skip_max_vals=false)
Private Attributes
double	_prev_x
double	_prev_y
double	_prev_yaw
bool	_skip_max_vals

Detailed Description

Class responsibilities: observes laser scans and odometry; converts ROS structures to internal representation.

Definition at line 15 of file laser_scan_observer.h.

Constructor & Destructor Documentation

LaserScanObserver::LaserScanObserver ( bool skip_max_vals = false ) [inline]

Initializes the base laser scan observer.

Parameters:

skip_max_vals Whether scan points that exceed the max reliable scan-specific distance be skipped.

Definition at line 22 of file laser_scan_observer.h.

Member Function Documentation

virtual void LaserScanObserver::handle_laser_scan ( TransformedLaserScan & ) [pure virtual]

Implemented in TinySlamFascade.

virtual void LaserScanObserver::handle_transformed_msg	(	const ScanPtr	msg,
		const tf::StampedTransform &	t
	)		`[inline, virtual]`

Converts ROS-specific structures that hold sensor data to internal framework's structures; Laser scan filtering is performed as part of the conversion.

Parameters: