Public Member Functions | Protected Member Functions | Protected Attributes | Private Member Functions | Private Attributes | List of all members
karto::LocalizedLaserScan Class Referenceabstract

#include <SensorData.h>

Inheritance diagram for karto::LocalizedLaserScan:
Inheritance graph
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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)
 
- Public Member Functions inherited from karto::LocalizedObject
 LocalizedObject (const Identifier &rSensorIdentifier)
 
- Public Member Functions inherited from karto::Object
 Object ()
 
 Object (const Identifier &rIdentifier)
 
- Public Member Functions inherited from karto::Referenced
 Referenced ()
 

Protected Member Functions

virtual void ComputePointReadings ()=0
 
virtual const Vector2dListGetFilteredPointReadings () const
 
virtual const Vector2dListGetUnfilteredPointReadings () const
 
 LocalizedLaserScan (const Identifier &rSensorIdentifier)
 
void Update ()
 
virtual ~LocalizedLaserScan ()
 
- Protected Member Functions inherited from karto::LocalizedObject
const Pose2GetCorrectedPose () const
 
gps::PointGps GetGpsEstimate () const
 
gps::PointGps GetGpsReading () const
 
const Pose2GetOdometricPose () const
 
kt_bool IsGpsEstimateValid () const
 
kt_bool IsGpsReadingValid () const
 
void SetGpsEstimate (const gps::PointGps &rGpsEstimate)
 
void SetGpsEstimationManager (AbstractGpsEstimationManager *pGpsEstimationManager)
 
void SetGpsReading (const gps::PointGps &rGpsReading)
 
void SetOdometricPose (const Pose2 &rOdometricPose)
 
- Protected Member Functions inherited from karto::SensorData
void AddCustomItem (CustomItem *pCustomItem)
 
const CustomItemList & GetCustomItems () const
 
const IdentifierGetSensorIdentifier () const
 
kt_int32s GetStateId () const
 
kt_int64s GetTime () const
 
kt_int32s GetUniqueId () const
 
kt_bool HasCustomItem ()
 
 SensorData (const Identifier &rSensorIdentifier)
 
void SetSensorIdentifier (const Identifier &rSensorIdentifier)
 
void SetStateId (kt_int32s stateId)
 
void SetTime (kt_int64s time)
 
void SetUniqueId (kt_int32u uniqueId)
 
- Protected Member Functions inherited from karto::Object
const IdentifierGetIdentifier () const
 
AbstractParameterGetParameter (const String &rParameterName) const
 
template<typename T >
Parameter< T > * GetParameter (const String &rParameterName) const
 
ParameterList GetParameters ()
 
ParameterSetGetParameterSet ()
 
template<typename T >
void SetParameters (const karto::String &rParameterName, const T &rValue)
 
- Protected Member Functions inherited from karto::Referenced
kt_int32s GetReferenceCount ()
 
kt_int32s Reference () const
 
kt_int32s Unreference () const
 
kt_int32s UnreferenceNoDelete () const
 

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.

karto::LocalizedLaserScan::~LocalizedLaserScan ( )
protectedvirtual

Definition at line 113 of file SensorData.cpp.

Member Function Documentation

virtual void karto::LocalizedLaserScan::ComputePointReadings ( )
protectedpure virtual

Computes point readings in global coordinates

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

const Pose2& karto::LocalizedLaserScan::GetBarycenterPose ( ) const
inline

Gets barycenter of point readings

Returns
barycenter of point readings

Definition at line 596 of file SensorData.h.

const BoundingBox2& karto::LocalizedLaserScan::GetBoundingBox ( ) const
inline

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
inlineprotectedvirtual

Gets filtered points readings

Returns
filtered point readings

Definition at line 724 of file SensorData.h.

LaserRangeFinder* karto::LocalizedLaserScan::GetLaserRangeFinder ( ) const
inline

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.

kt_size_t karto::LocalizedLaserScan::GetNumberOfRangeReadings ( ) const
inline

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.

const RangeReadingsList& karto::LocalizedLaserScan::GetRangeReadings ( ) const
inline

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.

Pose2 karto::LocalizedLaserScan::GetSensorPose ( ) const
inline

Computes the position of the sensor

Returns
sensor pose

Definition at line 627 of file SensorData.h.

virtual const Vector2dList& karto::LocalizedLaserScan::GetUnfilteredPointReadings ( ) const
inlineprotectedvirtual

Gets raw points readings

Returns
raw point readings

Definition at line 733 of file SensorData.h.

karto::LocalizedLaserScan::KARTO_RTTI ( )
private
virtual void karto::LocalizedLaserScan::SetCorrectedPose ( const Pose2 rCorrectedPose)
inlinevirtual

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

Pose2 karto::LocalizedLaserScan::m_BarycenterPose
private

Average of all the point readings

Definition at line 763 of file SensorData.h.

BoundingBox2 karto::LocalizedLaserScan::m_BoundingBox
private

Bounding box of localized range scan

Definition at line 768 of file SensorData.h.

Vector2dList karto::LocalizedLaserScan::m_FilteredPointReadings
protected

List of filtered point readings

Definition at line 742 of file SensorData.h.

kt_bool karto::LocalizedLaserScan::m_IsDirty
private

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

Definition at line 773 of file SensorData.h.

RangeReadingsList karto::LocalizedLaserScan::m_RangeReadings
protected

List of unfiltered ranges

Definition at line 752 of file SensorData.h.

Identifier karto::LocalizedLaserScan::m_SensorIdentifier
private

Name of sensor that created this scan

Definition at line 758 of file SensorData.h.

Vector2dList karto::LocalizedLaserScan::m_UnfilteredPointReadings
protected

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 Tue Nov 7 2017 06:02:36