#include <Sensor.h>

Inheritance diagram for karto::LaserRangeFinder:

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

Protected 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 Vector2dList	GetPointReadings (LocalizedLaserScan pLocalizedLaserScan, CoordinateConverter pCoordinateConverter, kt_bool ignoreThresholdPoints=true, kt_bool flipY=false) const

kt_double	GetRangeThreshold () const

kt_int64s	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 void	Validate ()

virtual void	Validate (SensorData *pSensorData)

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

	Sensor (const Identifier &rName)

void	SetOffsetPose (const Pose2 &rPose)

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 ()

	LaserRangeFinder (const Identifier &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
Public Member Functions inherited from karto::Object
	Object ()

	Object (const Identifier &rIdentifier)

Public Member Functions inherited from karto::Referenced
	Referenced ()

Detailed Description

The LaserRangeFinder defines a laser sensor that provides the pose offset position of a localized laser 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. It 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 following example code creates a LaserRangeFinder with default values for a Sick LMS100 laser

karto::LaserRangeFinder* pLrf = karto::LaserRangeFinder::CreateLaserRangeFinder(karto::LaserRangeFinder_Sick_LMS100, "/laser0");

The following laser types are supported in CreateLaserRangeFinder

LaserRangeFinder_Sick_LMS100 LaserRangeFinder_Sick_LMS200 LaserRangeFinder_Sick_LMS291 LaserRangeFinder_Hokuyo_UTM_30LX LaserRangeFinder_Hokuyo_URG_04LX

Definition at line 247 of file Sensor.h.

Constructor & Destructor Documentation

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

private

Laser range finder with given name

Parameters

rName name

Definition at line 66 of file Sensor.cpp.

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

private

Member Function Documentation

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

static

Creates a laser range finder of the given type and name

Parameters

type	laser type
rName	name of sensor

Returns: laser range finder

Definition at line 229 of file Sensor.cpp.

kt_double karto::LaserRangeFinder::GetAngularResolution ( ) const

inlineprotected

Gets this range finder sensor's angular resolution

Returns: angular resolution

Definition at line 359 of file Sensor.h.

kt_double karto::LaserRangeFinder::GetMaximumAngle ( ) const

inlineprotected

Gets this range finder sensor's maximum angle

Returns: maximum angle

Definition at line 339 of file Sensor.h.

kt_double karto::LaserRangeFinder::GetMaximumRange ( ) const

inlineprotected

Gets this range finder sensor's maximum range

Returns: maximum range

Definition at line 284 of file Sensor.h.

kt_double karto::LaserRangeFinder::GetMinimumAngle ( ) const

inlineprotected

Gets this range finder sensor's minimum angle

Returns: minimum angle

Definition at line 319 of file Sensor.h.

kt_double karto::LaserRangeFinder::GetMinimumRange ( ) const

inlineprotected

public: /** Gets this range finder sensor's minimum range

Returns: minimum range

Definition at line 264 of file Sensor.h.

kt_int32u karto::LaserRangeFinder::GetNumberOfRangeReadings ( ) const

inlineprotected

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 383 of file Sensor.h.

const Vector2dList karto::LaserRangeFinder::GetPointReadings	(	LocalizedLaserScan *	pLocalizedLaserScan,
		CoordinateConverter *	pCoordinateConverter,
		kt_bool	ignoreThresholdPoints = `true`,
		kt_bool	flipY = `false`
	)		const

protected

Gets point readings (potentially scaling readings if given coordinate converter is not null)

Parameters

pLocalizedLaserScan	scan
pCoordinateConverter	coordinate converter
ignoreThresholdPoints	whether to ignore points that exceed the range threshold
flipY	whether to flip the y-coordinate (useful for drawing applications with inverted y-coordinates)

Returns: list of points from the given scan

Definition at line 93 of file Sensor.cpp.

kt_double karto::LaserRangeFinder::GetRangeThreshold ( ) const

inlineprotected

Gets the range threshold

Returns: range threshold

Definition at line 304 of file Sensor.h.

kt_int64s karto::LaserRangeFinder::GetType ( )

inlineprotected

Gets this range finder sensor's laser type

Returns: laser type of this range finder

Definition at line 374 of file Sensor.h.

karto::LaserRangeFinder::KARTO_RTTI ( )

private

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

private

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

protected

Sets this range finder sensor's angular resolution

Parameters

angularResolution new angular resolution

Definition at line 138 of file Sensor.cpp.

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

inlineprotected

Sets this range finder sensor's maximum angle

Parameters

maximumAngle new maximum angle

Definition at line 348 of file Sensor.h.

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

inlineprotected

Sets this range finder sensor's maximum range

Parameters

maximumRange new maximum range

Definition at line 293 of file Sensor.h.

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

inlineprotected

Sets this range finder sensor's minimum angle

Parameters

minimumAngle new minimum angle

Definition at line 328 of file Sensor.h.

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

inlineprotected

Sets this range finder sensor's minimum range

Parameters

minimumRange new minimum range

Definition at line 273 of file Sensor.h.

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

protected

Sets the range threshold

Parameters

rangeThreshold new range threshold

Definition at line 127 of file Sensor.cpp.

void karto::LaserRangeFinder::Update ( )

inlineprivate

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

Definition at line 428 of file Sensor.h.

void karto::LaserRangeFinder::Validate ( )

protectedvirtual

Validates this sensor

Implements karto::Sensor.

Definition at line 192 of file Sensor.cpp.

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

protectedvirtual

Validates sensor data

Parameters

pSensorData sensor data

Implements karto::Sensor.

Definition at line 212 of file Sensor.cpp.

Member Data Documentation

kt_int32u karto::LaserRangeFinder::m_NumberOfRangeReadings

private

Definition at line 451 of file Sensor.h.

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

private

Definition at line 442 of file Sensor.h.

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

private

Definition at line 440 of file Sensor.h.

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

private

Definition at line 445 of file Sensor.h.

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

private

Definition at line 439 of file Sensor.h.

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

private

Definition at line 444 of file Sensor.h.

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

private

Definition at line 447 of file Sensor.h.

ParameterEnum* karto::LaserRangeFinder::m_pType

private

Definition at line 449 of file Sensor.h.

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

Static Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation