#include <Karto.h>

Inheritance diagram for karto::LaserRangeFinder:

[legend]

Public Member Functions
kt_double	GetAngularResolution () const

kt_bool	GetIs360Laser () const

kt_double	GetMaximumAngle () const

kt_double	GetMaximumRange () const

kt_double	GetMinimumAngle () const

kt_double	GetMinimumRange () const

kt_int32u	GetNumberOfRangeReadings () const

const PointVectorDouble	GetPointReadings (LocalizedRangeScan pLocalizedRangeScan, CoordinateConverter pCoordinateConverter, kt_bool ignoreThresholdPoints=true, kt_bool flipY=false) const

kt_double	GetRangeThreshold () const

kt_int32s	GetType ()

	LaserRangeFinder ()

void	SetAngularResolution (kt_double angularResolution)

void	SetIs360Laser (bool is_360_laser)

void	SetMaximumAngle (kt_double maximumAngle)

void	SetMaximumRange (kt_double maximumRange)

void	SetMinimumAngle (kt_double minimumAngle)

void	SetMinimumRange (kt_double minimumRange)

void	SetRangeThreshold (kt_double rangeThreshold)

virtual kt_bool	Validate ()

virtual kt_bool	Validate (SensorData *pSensorData)

virtual	~LaserRangeFinder ()

Public Member Functions inherited from karto::Sensor
const Pose2 &	GetOffsetPose () const

	Sensor ()

void	SetOffsetPose (const Pose2 &rPose)

virtual	~Sensor ()

Public Member Functions inherited from karto::Object
virtual const char *	GetClassName () const =0

const Name &	GetName () const

virtual kt_objecttype	GetObjectType () const =0

AbstractParameter *	GetParameter (const std::string &rName) const

virtual ParameterManager *	GetParameterManager ()

const ParameterVector &	GetParameters () const

	Object ()

	Object (const Name &rName)

	Object (const Object &)

const Object &	operator= (const Object &)

template<typename T >
void	SetParameter (const std::string &rName, T value)

virtual	~Object ()

Public Member Functions inherited from karto::NonCopyable
	NonCopyable ()

template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

virtual	~NonCopyable ()

Static Public Member Functions
static LaserRangeFinder *	CreateLaserRangeFinder (LaserRangeFinderType type, const Name &rName)

Private Member Functions
	LaserRangeFinder (const LaserRangeFinder &)

	LaserRangeFinder (const Name &rName)

const LaserRangeFinder &	operator= (const LaserRangeFinder &)

template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

void	Update ()

Private Attributes
kt_int32u	m_NumberOfRangeReadings

Parameter< kt_double > *	m_pAngularResolution

Parameter< kt_bool > *	m_pIs360Laser

Parameter< kt_double > *	m_pMaximumAngle

Parameter< kt_double > *	m_pMaximumRange

Parameter< kt_double > *	m_pMinimumAngle

Parameter< kt_double > *	m_pMinimumRange

Parameter< kt_double > *	m_pRangeThreshold

ParameterEnum *	m_pType

Friends
class	boost::serialization::access

Additional Inherited Members
Protected Member Functions inherited from karto::Sensor
	Sensor (const Name &rName)

Detailed Description

The LaserRangeFinder defines a laser sensor that provides the pose offset position of a localized range scan relative to the robot. The user can set an offset pose for the sensor relative to the robot coordinate system. If no value is provided by the user, the sensor is set to be at the origin of the robot coordinate system. The LaserRangeFinder contains parameters for physical laser sensor used by the mapper for scan matching Also contains information about the maximum range of the sensor and provides a threshold for limiting the range of readings. The optimal value for the range threshold depends on the angular resolution of the scan and the desired map resolution. RangeThreshold should be set as large as possible while still providing "solid" coverage between consecutive range readings. The diagram below illustrates the relationship between map resolution and the range threshold.

Definition at line 3922 of file Karto.h.

Constructor & Destructor Documentation

◆ LaserRangeFinder() [1/3]

karto::LaserRangeFinder::LaserRangeFinder ( )

inline

Definition at line 3925 of file Karto.h.

◆ ~LaserRangeFinder()

virtual karto::LaserRangeFinder::~LaserRangeFinder ( )

inlinevirtual

Destructor

Definition at line 3936 of file Karto.h.

◆ LaserRangeFinder() [2/3]

karto::LaserRangeFinder::LaserRangeFinder ( const Name & rName )

inlineprivate

Constructs a LaserRangeFinder object with given ID

Definition at line 4334 of file Karto.h.

◆ LaserRangeFinder() [3/3]

karto::LaserRangeFinder::LaserRangeFinder ( const LaserRangeFinder & )

private

Member Function Documentation

◆ CreateLaserRangeFinder()

static LaserRangeFinder* karto::LaserRangeFinder::CreateLaserRangeFinder	(	LaserRangeFinderType	type,
		const Name &	rName
	)

inlinestatic

Create a laser range finder of the given type and ID

Parameters

type
rName	name of sensor - if no name is specified default name will be assigned

Returns: laser range finder

Definition at line 4187 of file Karto.h.

◆ GetAngularResolution()

kt_double karto::LaserRangeFinder::GetAngularResolution ( ) const

inline

Gets this range finder sensor's angular resolution

Returns: angular resolution

Definition at line 4049 of file Karto.h.

◆ GetIs360Laser()

kt_bool karto::LaserRangeFinder::GetIs360Laser ( ) const

inline

Gets if this range finder sensor is 360° laser

Returns: is360Laser

Definition at line 4135 of file Karto.h.

◆ GetMaximumAngle()

kt_double karto::LaserRangeFinder::GetMaximumAngle ( ) const

inline

Gets this range finder sensor's maximum angle

Returns: maximum angle

Definition at line 4029 of file Karto.h.

◆ GetMaximumRange()

kt_double karto::LaserRangeFinder::GetMaximumRange ( ) const

inline

Gets this range finder sensor's maximum range

Returns: maximum range

Definition at line 3965 of file Karto.h.

◆ GetMinimumAngle()

kt_double karto::LaserRangeFinder::GetMinimumAngle ( ) const

inline

Gets this range finder sensor's minimum angle

Returns: minimum angle

Definition at line 4009 of file Karto.h.

◆ GetMinimumRange()

kt_double karto::LaserRangeFinder::GetMinimumRange ( ) const

inline

Gets this range finder sensor's minimum range

Returns: minimum range

Definition at line 3945 of file Karto.h.

◆ GetNumberOfRangeReadings()

kt_int32u karto::LaserRangeFinder::GetNumberOfRangeReadings ( ) const

inline

Gets the number of range readings each localized range scan must contain to be a valid scan.

Returns: number of range readings

Definition at line 4125 of file Karto.h.

◆ GetPointReadings()

const PointVectorDouble karto::LaserRangeFinder::GetPointReadings	(	LocalizedRangeScan *	pLocalizedRangeScan,
		CoordinateConverter *	pCoordinateConverter,
		kt_bool	ignoreThresholdPoints = `true`,
		kt_bool	flipY = `false`
	)		const

Get point readings (potentially scale readings if given coordinate converter is not null)

Parameters

pLocalizedRangeScan
pCoordinateConverter
ignoreThresholdPoints
flipY

Definition at line 164 of file Karto.cpp.

◆ GetRangeThreshold()

kt_double karto::LaserRangeFinder::GetRangeThreshold ( ) const

inline

Gets the range threshold

Returns: range threshold

Definition at line 3985 of file Karto.h.

◆ GetType()

kt_int32s karto::LaserRangeFinder::GetType ( )

inline

Return Laser type

Definition at line 4116 of file Karto.h.

◆ operator=()

const LaserRangeFinder& karto::LaserRangeFinder::operator= ( const LaserRangeFinder & )

private

◆ serialize()

template<class Archive >

void karto::LaserRangeFinder::serialize	(	Archive &	ar,
		const unsigned int	version
	)

inlineprivate

Definition at line 4403 of file Karto.h.

◆ SetAngularResolution()

void karto::LaserRangeFinder::SetAngularResolution ( kt_double angularResolution )

inline

Sets this range finder sensor's angular resolution

Parameters

angularResolution

Definition at line 4058 of file Karto.h.

◆ SetIs360Laser()

void karto::LaserRangeFinder::SetIs360Laser ( bool is_360_laser )

inline

Sets if this range finder sensor is 360° laser

Parameters

is360Laser

Definition at line 4144 of file Karto.h.

◆ SetMaximumAngle()

void karto::LaserRangeFinder::SetMaximumAngle ( kt_double maximumAngle )

inline

Sets this range finder sensor's maximum angle

Parameters

maximumAngle

Definition at line 4038 of file Karto.h.

◆ SetMaximumRange()

void karto::LaserRangeFinder::SetMaximumRange ( kt_double maximumRange )

inline

Sets this range finder sensor's maximum range

Parameters

maximumRange

Definition at line 3974 of file Karto.h.

◆ SetMinimumAngle()

void karto::LaserRangeFinder::SetMinimumAngle ( kt_double minimumAngle )

inline

Sets this range finder sensor's minimum angle

Parameters

minimumAngle

Definition at line 4018 of file Karto.h.

◆ SetMinimumRange()

void karto::LaserRangeFinder::SetMinimumRange ( kt_double minimumRange )

inline

Sets this range finder sensor's minimum range

Parameters

minimumRange

Definition at line 3954 of file Karto.h.

◆ SetRangeThreshold()

void karto::LaserRangeFinder::SetRangeThreshold ( kt_double rangeThreshold )

inline

Sets the range threshold

Parameters

rangeThreshold

Definition at line 3994 of file Karto.h.

◆ Update()

void karto::LaserRangeFinder::Update ( )

inlineprivate

Set the number of range readings based on the minimum and maximum angles of the sensor and the angular resolution

Definition at line 4365 of file Karto.h.

◆ Validate() [1/2]

virtual kt_bool karto::LaserRangeFinder::Validate ( )

inlinevirtual

Validates sensor

Returns: true if valid

Implements karto::Sensor.

Definition at line 4152 of file Karto.h.

◆ Validate() [2/2]

kt_bool karto::LaserRangeFinder::Validate ( SensorData * pSensorData )

virtual

Validates sensor data

Parameters

pSensorData sensor data

Returns: true if valid

Implements karto::Sensor.

Definition at line 212 of file Karto.cpp.

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access

friend

Definition at line 4401 of file Karto.h.

Member Data Documentation

◆ m_NumberOfRangeReadings

kt_int32u karto::LaserRangeFinder::m_NumberOfRangeReadings

private

Definition at line 4398 of file Karto.h.

◆ m_pAngularResolution

Parameter<kt_double>* karto::LaserRangeFinder::m_pAngularResolution

private

Definition at line 4387 of file Karto.h.

◆ m_pIs360Laser

Parameter<kt_bool>* karto::LaserRangeFinder::m_pIs360Laser

private

Definition at line 4394 of file Karto.h.

◆ m_pMaximumAngle

Parameter<kt_double>* karto::LaserRangeFinder::m_pMaximumAngle

private

Definition at line 4385 of file Karto.h.

◆ m_pMaximumRange

Parameter<kt_double>* karto::LaserRangeFinder::m_pMaximumRange

private

Definition at line 4390 of file Karto.h.

◆ m_pMinimumAngle

Parameter<kt_double>* karto::LaserRangeFinder::m_pMinimumAngle

private

Definition at line 4384 of file Karto.h.

◆ m_pMinimumRange

Parameter<kt_double>* karto::LaserRangeFinder::m_pMinimumRange

private

Definition at line 4389 of file Karto.h.

◆ m_pRangeThreshold

Parameter<kt_double>* karto::LaserRangeFinder::m_pRangeThreshold

private

Definition at line 4392 of file Karto.h.

◆ m_pType

ParameterEnum* karto::LaserRangeFinder::m_pType

private

Definition at line 4396 of file Karto.h.

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

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ LaserRangeFinder() [1/3]

◆ ~LaserRangeFinder()

◆ LaserRangeFinder() [2/3]

◆ LaserRangeFinder() [3/3]

Member Function Documentation

◆ CreateLaserRangeFinder()

◆ GetAngularResolution()

◆ GetIs360Laser()

◆ GetMaximumAngle()

◆ GetMaximumRange()

◆ GetMinimumAngle()

◆ GetMinimumRange()

◆ GetNumberOfRangeReadings()

◆ GetPointReadings()

◆ GetRangeThreshold()

◆ GetType()

◆ operator=()

◆ serialize()

◆ SetAngularResolution()

◆ SetIs360Laser()

◆ SetMaximumAngle()

◆ SetMaximumRange()

◆ SetMinimumAngle()

◆ SetMinimumRange()

◆ SetRangeThreshold()

◆ Update()

◆ Validate() [1/2]

◆ Validate() [2/2]

Friends And Related Function Documentation

◆ boost::serialization::access

Member Data Documentation

◆ m_NumberOfRangeReadings

◆ m_pAngularResolution

◆ m_pIs360Laser

◆ m_pMaximumAngle

◆ m_pMaximumRange

◆ m_pMinimumAngle

◆ m_pMinimumRange

◆ m_pRangeThreshold

◆ m_pType