rangesensor.h
Go to the documentation of this file.
1 #ifndef RANGESENSOR_H
2 #define RANGESENSOR_H
3 
4 #include <vector>
6 #include <gmapping/utils/point.h>
7 #include <gmapping/sensor/sensor_range/sensor_range_export.h>
8 
9 namespace GMapping{
10 
11 class SENSOR_RANGE_EXPORT RangeSensor: public Sensor{
12  friend class Configuration;
13  friend class CarmenConfiguration;
14  friend class CarmenWrapper;
15  public:
16  struct Beam{
17  OrientedPoint pose; //pose relative to the center of the sensor
18  double span; //spam=0 indicates a line-like beam
19  double maxRange; //maximum range of the sensor
20  double s,c; //sinus and cosinus of the beam (optimization);
21  };
22  RangeSensor(std::string name);
23  RangeSensor(std::string name, unsigned int beams, double res, const OrientedPoint& position=OrientedPoint(0,0,0), double span=0, double maxrange=89.0);
24  inline const std::vector<Beam>& beams() const {return m_beams;}
25  inline std::vector<Beam>& beams() {return m_beams;}
26  inline OrientedPoint getPose() const {return m_pose;}
27  void updateBeamsLookup();
28  bool newFormat;
29  protected:
31  std::vector<Beam> m_beams;
32 };
33 
34 };
35 
36 #endif
const std::vector< Beam > & beams() const
Definition: rangesensor.h:24
std::vector< Beam > & beams()
Definition: rangesensor.h:25
OrientedPoint getPose() const
Definition: rangesensor.h:26
std::vector< Beam > m_beams
Definition: rangesensor.h:31
double maxrange
Definition: gfs2stream.cpp:22
OrientedPoint m_pose
Definition: rangesensor.h:30
unsigned int c
Definition: gfs2stream.cpp:41
orientedpoint< double, double > OrientedPoint
Definition: point.h:203


openslam_gmapping
Author(s): Cyrill Stachniss, Udo Frese, Giorgio Grisetti, Wolfram Burgard
autogenerated on Mon Feb 28 2022 22:59:20