Public Member Functions | Protected Member Functions | Private Member Functions | List of all members
karto::LocalizedRangeScan Class Reference

#include <SensorData.h>

Inheritance diagram for karto::LocalizedRangeScan:
Inheritance graph
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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 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 ()
 
- Protected Member Functions inherited from karto::LocalizedLaserScan
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
 

Private Member Functions

 KARTO_RTTI ()
 
 LocalizedRangeScan (const LocalizedRangeScan &)
 
const LocalizedRangeScanoperator= (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::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
rSensorIdentifieridentifier of sensor that generated this scan
rReadingslist 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
rSensorIdentifieridentifier of sensor that generated this scan
rRangeReadingsvector 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:


nav2d_karto
Author(s): Sebastian Kasperski
autogenerated on Tue Nov 7 2017 06:02:36