costmap_2d::Observation Class Reference

Stores an observation in terms of a point cloud and the origin of the source. More...

#include <observation.h>

Public Member Functions
	Observation ()
	Creates an empty observation. More...
	Observation (const Observation &obs)
	Copy constructor. More...
	Observation (const sensor_msgs::PointCloud2 &cloud, double obstacle_range)
	Creates an observation from a point cloud. More...
	Observation (geometry_msgs::Point &origin, const sensor_msgs::PointCloud2 &cloud, double obstacle_range, double raytrace_range)
	Creates an observation from an origin point and a point cloud. More...
virtual	~Observation ()

Public Attributes
sensor_msgs::PointCloud2 *	cloud_
double	obstacle_range_
geometry_msgs::Point	origin_
double	raytrace_range_

Detailed Description

Stores an observation in terms of a point cloud and the origin of the source.

Note

Tried to make members and constructor arguments const but the compiler would not accept the default assignment operator for vector insertion!

Definition at line 46 of file observation.h.

Constructor & Destructor Documentation

Observation() [1/4]

costmap_2d::Observation::Observation ( )

inline

Creates an empty observation.

Definition at line 52 of file observation.h.

~Observation()

virtual costmap_2d::Observation::~Observation ( )

inlinevirtual

Definition at line 57 of file observation.h.

Observation() [2/4]

costmap_2d::Observation::Observation ( geometry_msgs::Point &  origin, const sensor_msgs::PointCloud2 &  cloud, double  obstacle_range, double  raytrace_range  )

inline

Creates an observation from an origin point and a point cloud.

Parameters

origin	The origin point of the observation
cloud	The point cloud of the observation
obstacle_range	The range out to which an observation should be able to insert obstacles
raytrace_range	The range out to which an observation should be able to clear via raytracing

Definition at line 69 of file observation.h.

Observation() [3/4]

costmap_2d::Observation::Observation ( const Observation &  obs )

inline

Copy constructor.

Parameters

obs	The observation to copy

Definition at line 80 of file observation.h.

Observation() [4/4]

costmap_2d::Observation::Observation ( const sensor_msgs::PointCloud2 &  cloud, double  obstacle_range  )

inline

Creates an observation from a point cloud.

Parameters

cloud	The point cloud of the observation
obstacle_range	The range out to which an observation should be able to insert obstacles

Definition at line 91 of file observation.h.

Member Data Documentation

cloud_

sensor_msgs::PointCloud2* costmap_2d::Observation::cloud_

Definition at line 97 of file observation.h.

obstacle_range_

double costmap_2d::Observation::obstacle_range_

Definition at line 98 of file observation.h.

origin_

geometry_msgs::Point costmap_2d::Observation::origin_

Definition at line 96 of file observation.h.

raytrace_range_

double costmap_2d::Observation::raytrace_range_

Definition at line 98 of file observation.h.

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

• observation.h