#include <scan_shadow_detector.h>

Public Member Functions
void	configure (const float min_angle, const float max_angle)

bool	isShadow (const float r1, const float r2, const float included_angle)
	Check if the point is a shadow of another point within one laser scan. More...

bool	isShadow (float r1, float r2, float included_angle_sin, float included_angle_cos)
	Check if the point is a shadow of another point within one laser scan. Use this method instead of the version without the extra parameters to avoid computing sin and cos of the angle on every execution. More...

Public Attributes
float	max_angle_tan_

float	min_angle_tan_

Detailed Description

Definition at line 78 of file scan_shadow_detector.h.

Member Function Documentation

◆ configure()

void laser_filters::ScanShadowDetector::configure	(	const float	min_angle,
		const float	max_angle
	)

Definition at line 77 of file scan_shadow_detector.cpp.

◆ isShadow() [1/2]

bool laser_filters::ScanShadowDetector::isShadow	(	const float	r1,
		const float	r2,
		const float	included_angle
	)

Check if the point is a shadow of another point within one laser scan.

Parameters

r1	the distance to the first point
r2	the distance to the second point
included_angle	the angle between laser scans for these two points

Definition at line 89 of file scan_shadow_detector.cpp.

◆ isShadow() [2/2]

bool laser_filters::ScanShadowDetector::isShadow	(	float	r1,
		float	r2,
		float	included_angle_sin,
		float	included_angle_cos
	)

Check if the point is a shadow of another point within one laser scan. Use this method instead of the version without the extra parameters to avoid computing sin and cos of the angle on every execution.

Parameters

r1	the distance to the first point
r2	the distance to the second point
included_angle_sin	the sine of an angle between laser scans for these two points
included_angle_cos	the cosine of an angle between laser scans for these two points

Definition at line 96 of file scan_shadow_detector.cpp.

Member Data Documentation

◆ max_angle_tan_

float laser_filters::ScanShadowDetector::max_angle_tan_

Definition at line 113 of file scan_shadow_detector.h.

◆ min_angle_tan_

float laser_filters::ScanShadowDetector::min_angle_tan_