#include <Karto.h>

Inheritance diagram for karto::LaserRangeFinder:

Public Member Functions
kt_double	GetAngularResolution () const

kt_double	GetMaximumAngle () const

kt_double	GetMaximumRange () const

kt_double	GetMinimumAngle () const

kt_double	GetMinimumRange () const

kt_int32u	GetNumberOfRangeReadings () const

const PointVectorDouble	GetPointReadings (LocalizedRangeScan pLocalizedRangeScan, CoordinateConverter pCoordinateConverter, kt_bool ignoreThresholdPoints=true, kt_bool flipY=false) const

kt_double	GetRangeThreshold () const

kt_int32s	GetType ()

void	SetAngularResolution (kt_double angularResolution)

void	SetMaximumAngle (kt_double maximumAngle)

void	SetMaximumRange (kt_double maximumRange)

void	SetMinimumAngle (kt_double minimumAngle)

void	SetMinimumRange (kt_double minimumRange)

void	SetRangeThreshold (kt_double rangeThreshold)

virtual kt_bool	Validate ()

virtual kt_bool	Validate (SensorData *pSensorData)

virtual	~LaserRangeFinder ()

Public Member Functions inherited from karto::Sensor
const Pose2 &	GetOffsetPose () const

void	SetOffsetPose (const Pose2 &rPose)

virtual	~Sensor ()

Public Member Functions inherited from karto::Object
virtual const char *	GetClassName () const =0

const Name &	GetName () const

virtual kt_objecttype	GetObjectType () const =0

AbstractParameter *	GetParameter (const std::string &rName) const

virtual ParameterManager *	GetParameterManager ()

const ParameterVector &	GetParameters () const

	Object ()

	Object (const Name &rName)

template<typename T >
void	SetParameter (const std::string &rName, T value)

virtual	~Object ()

Static Public Member Functions
static LaserRangeFinder *	CreateLaserRangeFinder (LaserRangeFinderType type, const Name &rName)

Private Member Functions
	LaserRangeFinder (const Name &rName)

	LaserRangeFinder (const LaserRangeFinder &)

const LaserRangeFinder &	operator= (const LaserRangeFinder &)

void	Update ()

Private Attributes
kt_int32u	m_NumberOfRangeReadings

Parameter< kt_double > *	m_pAngularResolution

Parameter< kt_double > *	m_pMaximumAngle

Parameter< kt_double > *	m_pMaximumRange

Parameter< kt_double > *	m_pMinimumAngle

Parameter< kt_double > *	m_pMinimumRange

Parameter< kt_double > *	m_pRangeThreshold

ParameterEnum *	m_pType

Additional Inherited Members
Protected Member Functions inherited from karto::Sensor
	Sensor (const Name &rName)

Protected Member Functions inherited from karto::NonCopyable
	NonCopyable ()

virtual	~NonCopyable ()

Detailed Description

The LaserRangeFinder defines a laser sensor that provides the pose offset position of a localized range scan relative to the robot. The user can set an offset pose for the sensor relative to the robot coordinate system. If no value is provided by the user, the sensor is set to be at the origin of the robot coordinate system. The LaserRangeFinder contains parameters for physical laser sensor used by the mapper for scan matching Also contains information about the maximum range of the sensor and provides a threshold for limiting the range of readings. The optimal value for the range threshold depends on the angular resolution of the scan and the desired map resolution. RangeThreshold should be set as large as possible while still providing "solid" coverage between consecutive range readings. The diagram below illustrates the relationship between map resolution and the range threshold.

Definition at line 3721 of file Karto.h.

Constructor & Destructor Documentation

virtual karto::LaserRangeFinder::~LaserRangeFinder ( )

inlinevirtual

Destructor

Definition at line 3732 of file Karto.h.

karto::LaserRangeFinder::LaserRangeFinder ( const Name & rName )

inlineprivate

Constructs a LaserRangeFinder object with given ID

Definition at line 4108 of file Karto.h.

karto::LaserRangeFinder::LaserRangeFinder ( const LaserRangeFinder & )

private

Member Function Documentation

static LaserRangeFinder* karto::LaserRangeFinder::CreateLaserRangeFinder	(	LaserRangeFinderType	type,
		const Name &	rName
	)

inlinestatic

Create a laser range finder of the given type and ID

Parameters

type
rName	name of sensor - if no name is specified default name will be assigned

Returns: laser range finder

Definition at line 3961 of file Karto.h.

kt_double karto::LaserRangeFinder::GetAngularResolution ( ) const

inline

Gets this range finder sensor's angular resolution

Returns: angular resolution

Definition at line 3845 of file Karto.h.

kt_double karto::LaserRangeFinder::GetMaximumAngle ( ) const

inline

Gets this range finder sensor's maximum angle

Returns: maximum angle

Definition at line 3825 of file Karto.h.

kt_double karto::LaserRangeFinder::GetMaximumRange ( ) const

inline

Gets this range finder sensor's maximum range

Returns: maximum range

Definition at line 3761 of file Karto.h.

kt_double karto::LaserRangeFinder::GetMinimumAngle ( ) const

inline

Gets this range finder sensor's minimum angle

Returns: minimum angle

Definition at line 3805 of file Karto.h.

kt_double karto::LaserRangeFinder::GetMinimumRange ( ) const

inline

Gets this range finder sensor's minimum range

Returns: minimum range

Definition at line 3741 of file Karto.h.

kt_int32u karto::LaserRangeFinder::GetNumberOfRangeReadings ( ) const

inline

Gets the number of range readings each localized range scan must contain to be a valid scan.

Returns: number of range readings

Definition at line 3921 of file Karto.h.

const PointVectorDouble karto::LaserRangeFinder::GetPointReadings	(	LocalizedRangeScan *	pLocalizedRangeScan,
		CoordinateConverter *	pCoordinateConverter,
		kt_bool	ignoreThresholdPoints = `true`,
		kt_bool	flipY = `false`
	)		const

Get point readings (potentially scale readings if given coordinate converter is not null)

Parameters

pLocalizedRangeScan
pCoordinateConverter
ignoreThresholdPoints
flipY

Definition at line 142 of file Karto.cpp.

kt_double karto::LaserRangeFinder::GetRangeThreshold ( ) const

inline

Gets the range threshold

Returns: range threshold

Definition at line 3781 of file Karto.h.

kt_int32s karto::LaserRangeFinder::GetType ( )

inline

Return Laser type

Definition at line 3912 of file Karto.h.

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

private

void karto::LaserRangeFinder::SetAngularResolution ( kt_double angularResolution )

inline

Sets this range finder sensor's angular resolution

Parameters

angularResolution

Definition at line 3854 of file Karto.h.

void karto::LaserRangeFinder::SetMaximumAngle ( kt_double maximumAngle )

inline

Sets this range finder sensor's maximum angle

Parameters

maximumAngle

Definition at line 3834 of file Karto.h.

void karto::LaserRangeFinder::SetMaximumRange ( kt_double maximumRange )

inline

Sets this range finder sensor's maximum range

Parameters

maximumRange

Definition at line 3770 of file Karto.h.

void karto::LaserRangeFinder::SetMinimumAngle ( kt_double minimumAngle )

inline

Sets this range finder sensor's minimum angle

Parameters

minimumAngle

Definition at line 3814 of file Karto.h.

void karto::LaserRangeFinder::SetMinimumRange ( kt_double minimumRange )

inline

Sets this range finder sensor's minimum range

Parameters

minimumRange

Definition at line 3750 of file Karto.h.

void karto::LaserRangeFinder::SetRangeThreshold ( kt_double rangeThreshold )

inline

Sets the range threshold

Parameters

rangeThreshold

Definition at line 3790 of file Karto.h.

void karto::LaserRangeFinder::Update ( )

inlineprivate

Set the number of range readings based on the minimum and maximum angles of the sensor and the angular resolution

Definition at line 4137 of file Karto.h.

virtual kt_bool karto::LaserRangeFinder::Validate ( )

inlinevirtual

Validates sensor

Returns: true if valid

Implements karto::Sensor.

Definition at line 3926 of file Karto.h.

kt_bool karto::LaserRangeFinder::Validate ( SensorData * pSensorData )

virtual

Validates sensor data

Parameters

pSensorData sensor data

Returns: true if valid

Implements karto::Sensor.

Definition at line 190 of file Karto.cpp.

Member Data Documentation

kt_int32u karto::LaserRangeFinder::m_NumberOfRangeReadings

private

Definition at line 4162 of file Karto.h.

Parameter<kt_double>* karto::LaserRangeFinder::m_pAngularResolution

private

Definition at line 4153 of file Karto.h.

Parameter<kt_double>* karto::LaserRangeFinder::m_pMaximumAngle

private

Definition at line 4151 of file Karto.h.

Parameter<kt_double>* karto::LaserRangeFinder::m_pMaximumRange

private

Definition at line 4156 of file Karto.h.

Parameter<kt_double>* karto::LaserRangeFinder::m_pMinimumAngle

private

Definition at line 4150 of file Karto.h.

Parameter<kt_double>* karto::LaserRangeFinder::m_pMinimumRange

private

Definition at line 4155 of file Karto.h.

Parameter<kt_double>* karto::LaserRangeFinder::m_pRangeThreshold

private

Definition at line 4158 of file Karto.h.

ParameterEnum* karto::LaserRangeFinder::m_pType

private

Definition at line 4160 of file Karto.h.

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

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation