This class represents a single laser scan in the <tf_prefix> target frame. More...

#include <laserscan.h>

Public Types
using	IntensityData = std::vector< double >

using	IOData = std::vector< IOState >

using	MeasurementData = std::vector< double >

Public Member Functions
uint8_t	activeZoneset () const

uint8_t	getActiveZoneset () const

const IntensityData &	getIntensities () const

const IOData &	getIOStates () const

const util::TenthOfDegree &	getMaxScanAngle () const

const MeasurementData &	getMeasurements () const

MeasurementData &	getMeasurements ()

const util::TenthOfDegree &	getMinScanAngle () const

uint32_t	getScanCounter () const

const util::TenthOfDegree &	getScanResolution () const

int64_t	getTimestamp () const

const IntensityData &	intensities () const

void	intensities (const IntensityData &intensities)

const IOData &	ioStates () const

void	ioStates (const IOData &io_states)

	LaserScan (const util::TenthOfDegree &resolution, const util::TenthOfDegree &min_scan_angle, const util::TenthOfDegree &max_scan_angle, const uint32_t scan_counter, const uint8_t active_zoneset, const int64_t timestamp)

const util::TenthOfDegree &	maxScanAngle () const

const MeasurementData &	measurements () const

MeasurementData &	measurements ()

void	measurements (const MeasurementData &measurements)

const util::TenthOfDegree &	minScanAngle () const

uint32_t	scanCounter () const

const util::TenthOfDegree &	scanResolution () const

void	setIntensities (const IntensityData &intensities)

void	setIOStates (const IOData &io_states)

void	setMeasurements (const MeasurementData &measurements)

int64_t	timestamp () const

Private Attributes
const uint8_t	active_zoneset_
	The currently active zoneset of the scanner. More...

IntensityData	intensities_
	Stores the received normalized signal intensities. More...

IOData	io_states_
	States of the I/O pins. More...

const util::TenthOfDegree	max_scan_angle_
	Highest angle the scanner is scanning. More...

MeasurementData	measurements_
	Measurement data of the laserscan (in Millimeters). More...

const util::TenthOfDegree	min_scan_angle_
	Lowest angle the scanner is scanning. More...

const util::TenthOfDegree	resolution_
	Distance of angle between the measurements. More...

const uint32_t	scan_counter_
	Number of the scan round this data belongs to. More...

const int64_t	timestamp_
	Time of the first ray in this scan round (or fragment if fragmented_scans is enabled). More...

Detailed Description

This class represents a single laser scan in the <tf_prefix> target frame.

All relevant information about a single scan of a psen_scan scanner are stored in this class. This includes the following information:

Distance measures in mm.
Normalized intensities of the signals.
Resolution of the scan.
Min and Max angle.
Counter of scan round.
ID of the currently active zoneset.
Time of the first scan ray.
All states of the I/O pins recorded during the scan.

The measures use the target frame defined as <tf_prefix>.

See also: https://github.com/PilzDE/psen_scan_v2_standalone/blob/main/README.md#tf-frames

Definition at line 46 of file laserscan.h.

Member Typedef Documentation

◆ IntensityData

using psen_scan_v2_standalone::LaserScan::IntensityData = std::vector<double>

Definition at line 50 of file laserscan.h.

◆ IOData

using psen_scan_v2_standalone::LaserScan::IOData = std::vector<IOState>

Definition at line 51 of file laserscan.h.

◆ MeasurementData

using psen_scan_v2_standalone::LaserScan::MeasurementData = std::vector<double>

Definition at line 49 of file laserscan.h.

Constructor & Destructor Documentation

◆ LaserScan()

psen_scan_v2_standalone::LaserScan::LaserScan	(	const util::TenthOfDegree &	resolution,
		const util::TenthOfDegree &	min_scan_angle,
		const util::TenthOfDegree &	max_scan_angle,
		const uint32_t	scan_counter,
		const uint8_t	active_zoneset,
		const int64_t	timestamp
	)

Definition at line 32 of file laserscan.cpp.

Member Function Documentation

◆ activeZoneset()

uint8_t psen_scan_v2_standalone::LaserScan::activeZoneset ( ) const

Definition at line 143 of file laserscan.cpp.

◆ getActiveZoneset()

uint8_t psen_scan_v2_standalone::LaserScan::getActiveZoneset ( ) const

deprecated: use uint8_t activeZoneset() const instead

Definition at line 97 of file laserscan.cpp.

◆ getIntensities()

const LaserScan::IntensityData & psen_scan_v2_standalone::LaserScan::getIntensities ( ) const

deprecated: use const IntensityData& intensities() instead

Definition at line 112 of file laserscan.cpp.

◆ getIOStates()

const LaserScan::IOData & psen_scan_v2_standalone::LaserScan::getIOStates ( ) const

deprecated: use const IOData& ioStates() const instead

Definition at line 179 of file laserscan.cpp.

◆ getMaxScanAngle()

const util::TenthOfDegree & psen_scan_v2_standalone::LaserScan::getMaxScanAngle ( ) const

deprecated: use const util::TenthOfDegree& maxScanAngle() const instead

Definition at line 77 of file laserscan.cpp.

◆ getMeasurements() [1/2]

const LaserScan::MeasurementData & psen_scan_v2_standalone::LaserScan::getMeasurements ( ) const

deprecated: use const MeasurementData& measurements() instead

Definition at line 82 of file laserscan.cpp.

◆ getMeasurements() [2/2]

LaserScan::MeasurementData & psen_scan_v2_standalone::LaserScan::getMeasurements ( )

deprecated: use MeasurementData& measurements() instead

Definition at line 107 of file laserscan.cpp.

◆ getMinScanAngle()

const util::TenthOfDegree & psen_scan_v2_standalone::LaserScan::getMinScanAngle ( ) const

deprecated: use const util::TenthOfDegree& minScanAngle() const instead

Definition at line 72 of file laserscan.cpp.

◆ getScanCounter()

uint32_t psen_scan_v2_standalone::LaserScan::getScanCounter ( ) const

deprecated: use uint32_t scanCounter() const instead

Definition at line 87 of file laserscan.cpp.

◆ getScanResolution()

const util::TenthOfDegree & psen_scan_v2_standalone::LaserScan::getScanResolution ( ) const

deprecated: use const util::TenthOfDegree& scanResolution() const instead

Definition at line 67 of file laserscan.cpp.

◆ getTimestamp()

int64_t psen_scan_v2_standalone::LaserScan::getTimestamp ( ) const

deprecated: use int64_t timestamp() const instead

Definition at line 92 of file laserscan.cpp.

◆ intensities() [1/2]

const LaserScan::IntensityData & psen_scan_v2_standalone::LaserScan::intensities ( ) const

Definition at line 163 of file laserscan.cpp.

◆ intensities() [2/2]

void psen_scan_v2_standalone::LaserScan::intensities ( const IntensityData & intensities )

Definition at line 168 of file laserscan.cpp.

◆ ioStates() [1/2]

const LaserScan::IOData & psen_scan_v2_standalone::LaserScan::ioStates ( ) const

Definition at line 190 of file laserscan.cpp.

◆ ioStates() [2/2]

void psen_scan_v2_standalone::LaserScan::ioStates ( const IOData & io_states )

Definition at line 185 of file laserscan.cpp.

◆ maxScanAngle()

const util::TenthOfDegree & psen_scan_v2_standalone::LaserScan::maxScanAngle ( ) const

Definition at line 128 of file laserscan.cpp.

◆ measurements() [1/3]

const LaserScan::MeasurementData & psen_scan_v2_standalone::LaserScan::measurements ( ) const

Definition at line 133 of file laserscan.cpp.

◆ measurements() [2/3]

LaserScan::MeasurementData & psen_scan_v2_standalone::LaserScan::measurements ( )

Definition at line 158 of file laserscan.cpp.

◆ measurements() [3/3]

void psen_scan_v2_standalone::LaserScan::measurements ( const MeasurementData & measurements )

Definition at line 153 of file laserscan.cpp.

◆ minScanAngle()

const util::TenthOfDegree & psen_scan_v2_standalone::LaserScan::minScanAngle ( ) const

Definition at line 123 of file laserscan.cpp.

◆ scanCounter()

uint32_t psen_scan_v2_standalone::LaserScan::scanCounter ( ) const

Definition at line 138 of file laserscan.cpp.

◆ scanResolution()

const util::TenthOfDegree & psen_scan_v2_standalone::LaserScan::scanResolution ( ) const

Definition at line 61 of file laserscan.cpp.

◆ setIntensities()

void psen_scan_v2_standalone::LaserScan::setIntensities ( const IntensityData & intensities )

deprecated: use void intensities(const IntensityData& intensities) instead

Definition at line 117 of file laserscan.cpp.

◆ setIOStates()

void psen_scan_v2_standalone::LaserScan::setIOStates ( const IOData & io_states )

deprecated: use void ioStates(const IOData& io_states) instead

Definition at line 174 of file laserscan.cpp.

◆ setMeasurements()

void psen_scan_v2_standalone::LaserScan::setMeasurements ( const MeasurementData & measurements )

deprecated: use void measurements(const MeasurementData& measurements) instead

Definition at line 102 of file laserscan.cpp.

◆ timestamp()

int64_t psen_scan_v2_standalone::LaserScan::timestamp ( ) const

Definition at line 148 of file laserscan.cpp.

Member Data Documentation

◆ active_zoneset_

const uint8_t psen_scan_v2_standalone::LaserScan::active_zoneset_

private

The currently active zoneset of the scanner.

Definition at line 136 of file laserscan.h.

◆ intensities_

IntensityData psen_scan_v2_standalone::LaserScan::intensities_

private

Stores the received normalized signal intensities.

Definition at line 124 of file laserscan.h.

◆ io_states_

IOData psen_scan_v2_standalone::LaserScan::io_states_

private

States of the I/O pins.

Definition at line 126 of file laserscan.h.

◆ max_scan_angle_

const util::TenthOfDegree psen_scan_v2_standalone::LaserScan::max_scan_angle_

private

Highest angle the scanner is scanning.

Definition at line 132 of file laserscan.h.

◆ measurements_

MeasurementData psen_scan_v2_standalone::LaserScan::measurements_

private

Measurement data of the laserscan (in Millimeters).

Definition at line 122 of file laserscan.h.

◆ min_scan_angle_

const util::TenthOfDegree psen_scan_v2_standalone::LaserScan::min_scan_angle_

private

Lowest angle the scanner is scanning.

Definition at line 130 of file laserscan.h.

◆ resolution_

const util::TenthOfDegree psen_scan_v2_standalone::LaserScan::resolution_

private

Distance of angle between the measurements.

Definition at line 128 of file laserscan.h.

◆ scan_counter_

const uint32_t psen_scan_v2_standalone::LaserScan::scan_counter_

private

Number of the scan round this data belongs to.

Definition at line 134 of file laserscan.h.

◆ timestamp_

const int64_t psen_scan_v2_standalone::LaserScan::timestamp_

private

Time of the first ray in this scan round (or fragment if fragmented_scans is enabled).

Definition at line 138 of file laserscan.h.

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

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ IntensityData

◆ IOData

◆ MeasurementData

Constructor & Destructor Documentation

◆ LaserScan()

Member Function Documentation

◆ activeZoneset()

◆ getActiveZoneset()

◆ getIntensities()

◆ getIOStates()

◆ getMaxScanAngle()

◆ getMeasurements() [1/2]

◆ getMeasurements() [2/2]

◆ getMinScanAngle()

◆ getScanCounter()

◆ getScanResolution()

◆ getTimestamp()

◆ intensities() [1/2]

◆ intensities() [2/2]

◆ ioStates() [1/2]

◆ ioStates() [2/2]

◆ maxScanAngle()

◆ measurements() [1/3]

◆ measurements() [2/3]

◆ measurements() [3/3]

◆ minScanAngle()

◆ scanCounter()

◆ scanResolution()

◆ setIntensities()

◆ setIOStates()

◆ setMeasurements()

◆ timestamp()

Member Data Documentation

◆ active_zoneset_

◆ intensities_

◆ io_states_

◆ max_scan_angle_

◆ measurements_

◆ min_scan_angle_

◆ resolution_

◆ scan_counter_

◆ timestamp_