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

MeasurementData &	getMeasurements ()

const MeasurementData &	getMeasurements () const

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 configuration::ScannerId scanner_id)

const util::TenthOfDegree &	maxScanAngle () const

MeasurementData &	measurements ()

const MeasurementData &	measurements () const

void	measurements (const MeasurementData &measurements)

const util::TenthOfDegree &	minScanAngle () const

uint32_t	scanCounter () const

configuration::ScannerId	scannerId () 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...

configuration::ScannerId	scanner_id_
	distinction between master and subscribers 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 47 of file laserscan.h.

Member Typedef Documentation

◆ IntensityData

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

Definition at line 51 of file laserscan.h.

◆ IOData

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

Definition at line 52 of file laserscan.h.

◆ MeasurementData

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

Definition at line 50 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,
		const configuration::ScannerId	scanner_id
	)

Definition at line 33 of file laserscan.cpp.

Member Function Documentation

◆ activeZoneset()

uint8_t psen_scan_v2_standalone::LaserScan::activeZoneset ( ) const

Definition at line 151 of file laserscan.cpp.

◆ getActiveZoneset()

uint8_t psen_scan_v2_standalone::LaserScan::getActiveZoneset ( ) const

deprecated: use uint8_t activeZoneset() const instead

Definition at line 100 of file laserscan.cpp.

◆ getIntensities()

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

deprecated: use const IntensityData& intensities() instead

Definition at line 115 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 187 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 80 of file laserscan.cpp.

◆ getMeasurements() [1/2]

MeasurementData& psen_scan_v2_standalone::LaserScan::getMeasurements ( )

deprecated: use MeasurementData& measurements() instead

◆ getMeasurements() [2/2]

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

deprecated: use const MeasurementData& measurements() instead

Definition at line 85 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 75 of file laserscan.cpp.

◆ getScanCounter()

uint32_t psen_scan_v2_standalone::LaserScan::getScanCounter ( ) const

deprecated: use uint32_t scanCounter() const instead

Definition at line 90 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 70 of file laserscan.cpp.

◆ getTimestamp()

int64_t psen_scan_v2_standalone::LaserScan::getTimestamp ( ) const

deprecated: use int64_t timestamp() const instead

Definition at line 95 of file laserscan.cpp.

◆ intensities() [1/2]

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

Definition at line 171 of file laserscan.cpp.

◆ intensities() [2/2]

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

Definition at line 176 of file laserscan.cpp.

◆ ioStates() [1/2]

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

Definition at line 198 of file laserscan.cpp.

◆ ioStates() [2/2]

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

Definition at line 193 of file laserscan.cpp.

◆ maxScanAngle()

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

Definition at line 131 of file laserscan.cpp.

◆ measurements() [1/3]

MeasurementData& psen_scan_v2_standalone::LaserScan::measurements ( )

◆ measurements() [2/3]

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

Definition at line 141 of file laserscan.cpp.

◆ measurements() [3/3]

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

Definition at line 161 of file laserscan.cpp.

◆ minScanAngle()

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

Definition at line 126 of file laserscan.cpp.

◆ scanCounter()

uint32_t psen_scan_v2_standalone::LaserScan::scanCounter ( ) const

Definition at line 146 of file laserscan.cpp.

◆ scannerId()

configuration::ScannerId psen_scan_v2_standalone::LaserScan::scannerId ( ) const

Definition at line 136 of file laserscan.cpp.

◆ scanResolution()

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

Definition at line 64 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 120 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 182 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 105 of file laserscan.cpp.

◆ timestamp()

int64_t psen_scan_v2_standalone::LaserScan::timestamp ( ) const

Definition at line 156 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 140 of file laserscan.h.

◆ intensities_

IntensityData psen_scan_v2_standalone::LaserScan::intensities_

private

Stores the received normalized signal intensities.

Definition at line 128 of file laserscan.h.

◆ io_states_

IOData psen_scan_v2_standalone::LaserScan::io_states_

private

States of the I/O pins.

Definition at line 130 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 136 of file laserscan.h.

◆ measurements_

MeasurementData psen_scan_v2_standalone::LaserScan::measurements_

private

Measurement data of the laserscan (in Millimeters).

Definition at line 126 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 134 of file laserscan.h.

◆ resolution_

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

private

Distance of angle between the measurements.

Definition at line 132 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 138 of file laserscan.h.

◆ scanner_id_

configuration::ScannerId psen_scan_v2_standalone::LaserScan::scanner_id_

private

distinction between master and subscribers

Definition at line 144 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 142 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()

◆ scannerId()

◆ scanResolution()

◆ setIntensities()

◆ setIOStates()

◆ setMeasurements()

◆ timestamp()

Member Data Documentation

◆ active_zoneset_

◆ intensities_

◆ io_states_

◆ max_scan_angle_

◆ measurements_

◆ min_scan_angle_

◆ resolution_

◆ scan_counter_

◆ scanner_id_

◆ timestamp_