#include <SensorData.h>

Inheritance diagram for karto::LocalizedRangeScan:

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Public Member Functions
	LocalizedRangeScan (const Identifier &rSensorIdentifier, const RangeReadingsList &rReadings)

KARTO_DEPRECATED KARTO_FORCEINLINE	LocalizedRangeScan (const Identifier &rSensorIdentifier, std::vector< kt_double > &rRangeReadings)

Public Member Functions inherited from karto::LocalizedLaserScan
const Pose2 &	GetBarycenterPose () const

const BoundingBox2 &	GetBoundingBox () const

LaserRangeFinder *	GetLaserRangeFinder () const

kt_size_t	GetNumberOfRangeReadings () const

const Vector2dList &	GetPointReadings (kt_bool wantFiltered=false) const

const RangeReadingsList &	GetRangeReadings () 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 ()

Protected Member Functions inherited from karto::LocalizedLaserScan
virtual const Vector2dList &	GetFilteredPointReadings () const

virtual const Vector2dList &	GetUnfilteredPointReadings () const

	LocalizedLaserScan (const Identifier &rSensorIdentifier)

void	Update ()

virtual	~LocalizedLaserScan ()

Protected Member Functions inherited from karto::LocalizedObject
const Pose2 &	GetCorrectedPose () const

gps::PointGps	GetGpsEstimate () const

gps::PointGps	GetGpsReading () const

const Pose2 &	GetOdometricPose () 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 Identifier &	GetSensorIdentifier () 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 Identifier &	GetIdentifier () const

AbstractParameter *	GetParameter (const String &rParameterName) const

template<typename T >
Parameter< T > *	GetParameter (const String &rParameterName) const

ParameterList	GetParameters ()

ParameterSet *	GetParameterSet ()

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

Private Member Functions
	KARTO_RTTI ()

	LocalizedRangeScan (const LocalizedRangeScan &)

const LocalizedRangeScan &	operator= (const LocalizedRangeScan &)

Additional Inherited Members
Protected Attributes inherited from karto::LocalizedLaserScan
Vector2dList	m_FilteredPointReadings

RangeReadingsList	m_RangeReadings

Vector2dList	m_UnfilteredPointReadings

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 odometric 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 some other module)

The following example code creates a LocalizedRangeScan

karto::LaserRangeFinder* pLrf = karto::LaserRangeFinder::CreateLaserRangeFinder(karto::LaserRangeFinder_Sick_LMS100, "/laser0");
RangeReadingsList readings;
karto::LocalizedRangeScan* pLocalizedRangeScan = new karto::LocalizedRangeScan(pLrf->GetName(), readings);
pLocalizedRangeScan->SetTime(karto::Timestamp().GetUtcTime());

Setting the time is important if any filtering or interpolation is required for the scan

Example of how to to get a human readable time from the scan time.

std::cout << "Scan Date: " << karto::LocalDateTime(karto::DateTime(karto::Timestamp::FromUtcTime(pLocalizedRangeScan->GetTime()))).ToString().ToCString() << std::endl;

The LocalDataTime automatically corrects for timezone.

Definition at line 874 of file SensorData.h.

Constructor & Destructor Documentation

karto::LocalizedRangeScan::LocalizedRangeScan	(	const Identifier &	rSensorIdentifier,
		const RangeReadingsList &	rReadings
	)

Range scan from the given range finder with the given readings

Parameters

rSensorIdentifier	identifier of sensor that generated this scan
rReadings	list of range readings

KARTO_DEPRECATED KARTO_FORCEINLINE karto::LocalizedRangeScan::LocalizedRangeScan	(	const Identifier &	rSensorIdentifier,
		std::vector< kt_double > &	rRangeReadings
	)

inline

Range scan from the given range finder with the given readings

Parameters

rSensorIdentifier	identifier of sensor that generated this scan
rRangeReadings	vector of range readings

Deprecated:: Please use LocalizedRangeScan(const Name& rSensorIdentifier, const RangeReadingsList& rReadings)

Definition at line 892 of file SensorData.h.

karto::LocalizedRangeScan::LocalizedRangeScan ( const LocalizedRangeScan & )

private

Member Function Documentation

void karto::LocalizedRangeScan::ComputePointReadings ( )

protectedvirtual

private: /** Computes point readings based on range readings Only range readings within [minimum range; range threshold] are returned

Implements karto::LocalizedLaserScan.

Definition at line 184 of file SensorData.cpp.

karto::LocalizedRangeScan::KARTO_RTTI ( )

private

const LocalizedRangeScan& karto::LocalizedRangeScan::operator= ( const LocalizedRangeScan & )

private

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

Public Member Functions

Protected Member Functions

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation