psen_scan_v2_standalone::data_conversion_layer::LaserScanConverter Class Reference

: Responsible for converting Monitoring frames into LaserScan messages. More...

#include <laserscan_conversions.h>

Static Public Member Functions
static LaserScan	toLaserScan (const std::vector< data_conversion_layer::monitoring_frame::MessageStamped > &stamped_msgs)
	Converts monitoring_frames of a scan_round to the user friendly LaserScan type sent by the IScanner::LaserScanCallback. More...

Static Private Member Functions
static bool	allResolutionsMatch (const std::vector< data_conversion_layer::monitoring_frame::MessageStamped > &stamped_msgs)
static bool	allScanCountersMatch (const std::vector< data_conversion_layer::monitoring_frame::MessageStamped > &stamped_msgs)
static int64_t	calculateFirstRayTime (const data_conversion_layer::monitoring_frame::MessageStamped &stamped_msg)
static util::TenthOfDegree	calculateMaxAngle (const std::vector< data_conversion_layer::monitoring_frame::MessageStamped > &stamped_msgs, const util::TenthOfDegree &min_angle)
static int64_t	calculateTimestamp (const std::vector< data_conversion_layer::monitoring_frame::MessageStamped > &stamped_msgs, const std::vector< int > &filled_stamped_msgs_indices)
static std::vector< int >	getFilledFramesIndicesSortedByThetaAngle (const std::vector< data_conversion_layer::monitoring_frame::MessageStamped > &stamped_msgs)
static bool	thetaAnglesFitTogether (const std::vector< data_conversion_layer::monitoring_frame::MessageStamped > &stamped_msgs, const std::vector< int > &sorted_stamped_msgs_indices)
static void	validateMonitoringFrames (const std::vector< data_conversion_layer::monitoring_frame::MessageStamped > &stamped_msgs, const std::vector< int > &sorted_stamped_msgs_indices)

Detailed Description

: Responsible for converting Monitoring frames into LaserScan messages.

Definition at line 46 of file laserscan_conversions.h.

Member Function Documentation

allResolutionsMatch()

bool psen_scan_v2_standalone::data_conversion_layer::LaserScanConverter::allResolutionsMatch ( const std::vector< data_conversion_layer::monitoring_frame::MessageStamped > &  stamped_msgs )

inlinestaticprivate

Definition at line 223 of file laserscan_conversions.h.

allScanCountersMatch()

bool psen_scan_v2_standalone::data_conversion_layer::LaserScanConverter::allScanCountersMatch ( const std::vector< data_conversion_layer::monitoring_frame::MessageStamped > &  stamped_msgs )

inlinestaticprivate

Definition at line 232 of file laserscan_conversions.h.

calculateFirstRayTime()

int64_t psen_scan_v2_standalone::data_conversion_layer::LaserScanConverter::calculateFirstRayTime ( const data_conversion_layer::monitoring_frame::MessageStamped &  stamped_msg )

inlinestaticprivate

Definition at line 197 of file laserscan_conversions.h.

calculateMaxAngle()

util::TenthOfDegree psen_scan_v2_standalone::data_conversion_layer::LaserScanConverter::calculateMaxAngle ( const std::vector< data_conversion_layer::monitoring_frame::MessageStamped > &  stamped_msgs, const util::TenthOfDegree &  min_angle  )

inlinestaticprivate

Definition at line 173 of file laserscan_conversions.h.

calculateTimestamp()

int64_t psen_scan_v2_standalone::data_conversion_layer::LaserScanConverter::calculateTimestamp ( const std::vector< data_conversion_layer::monitoring_frame::MessageStamped > &  stamped_msgs, const std::vector< int > &  filled_stamped_msgs_indices  )

inlinestaticprivate

Definition at line 185 of file laserscan_conversions.h.

getFilledFramesIndicesSortedByThetaAngle()

std::vector< int > psen_scan_v2_standalone::data_conversion_layer::LaserScanConverter::getFilledFramesIndicesSortedByThetaAngle ( const std::vector< data_conversion_layer::monitoring_frame::MessageStamped > &  stamped_msgs )

inlinestaticprivate

Definition at line 150 of file laserscan_conversions.h.

thetaAnglesFitTogether()

bool psen_scan_v2_standalone::data_conversion_layer::LaserScanConverter::thetaAnglesFitTogether ( const std::vector< data_conversion_layer::monitoring_frame::MessageStamped > &  stamped_msgs, const std::vector< int > &  sorted_stamped_msgs_indices  )

inlinestaticprivate

Definition at line 241 of file laserscan_conversions.h.

toLaserScan()

LaserScan psen_scan_v2_standalone::data_conversion_layer::LaserScanConverter::toLaserScan ( const std::vector< data_conversion_layer::monitoring_frame::MessageStamped > &  stamped_msgs )

inlinestatic

Converts monitoring_frames of a scan_round to the user friendly LaserScan type sent by the IScanner::LaserScanCallback.

Note

expects all monitoring frames to have the same resolution.

Exceptions

data_conversion_layer::monitoring_frame::AdditionalFieldMissing

if measurements, scan_counter or active_zoneset are not set in one of the stamped_msgs.

See also

data_conversion_layer::monitoring_frame::Message

ScannerV2

Definition at line 86 of file laserscan_conversions.h.

validateMonitoringFrames()

void psen_scan_v2_standalone::data_conversion_layer::LaserScanConverter::validateMonitoringFrames ( const std::vector< data_conversion_layer::monitoring_frame::MessageStamped > &  stamped_msgs, const std::vector< int > &  sorted_stamped_msgs_indices  )

inlinestaticprivate

Definition at line 205 of file laserscan_conversions.h.

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

• laserscan_conversions.h