karto::LocalizedRangeScan Class Reference

#include <SensorData.h>

Inheritance diagram for karto::LocalizedRangeScan:

List of all members.

Public Member Functions
	LocalizedRangeScan (const Identifier &rSensorIdentifier, const RangeReadingsList &rReadings)
KARTO_DEPRECATED KARTO_FORCEINLINE	LocalizedRangeScan (const Identifier &rSensorIdentifier, std::vector< kt_double > &rRangeReadings)
Private Member Functions
virtual void	ComputePointReadings ()
	KARTO_RTTI ()
	LocalizedRangeScan (const LocalizedRangeScan &)
const LocalizedRangeScan &	operator= (const LocalizedRangeScan &)

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Detailed Description

The LocalizedRangeScan contains range data from a single sweep of a laser range finder sensor in a two-dimensional space and position information. The odometric position is the position reported by the robot when the range data was recorded. The corrected position is the position calculated by the mapper (or some other module)

The following example code creates a LocalizedRangeScan

   karto::LaserRangeFinder* pLrf = karto::LaserRangeFinder::CreateLaserRangeFinder(karto::LaserRangeFinder_Sick_LMS100, "/laser0");
   RangeReadingsList readings;
   karto::LocalizedRangeScan* pLocalizedRangeScan = new karto::LocalizedRangeScan(pLrf->GetName(), readings);
   pLocalizedRangeScan->SetTime(karto::Timestamp().GetUtcTime());

Setting the time is important if any filtering or interpolation is required for the scan

Example of how to to get a human readable time from the scan time.

   std::cout << "Scan Date: " << karto::LocalDateTime(karto::DateTime(karto::Timestamp::FromUtcTime(pLocalizedRangeScan->GetTime()))).ToString().ToCString() << std::endl;

The LocalDataTime automatically corrects for timezone.

Definition at line 874 of file SensorData.h.

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Constructor & Destructor Documentation

karto::LocalizedRangeScan::LocalizedRangeScan	(	const Identifier &	rSensorIdentifier,
		const RangeReadingsList &	rReadings
	)

Range scan from the given range finder with the given readings

Parameters:

rSensorIdentifier	identifier of sensor that generated this scan
rReadings	list of range readings

KARTO_DEPRECATED KARTO_FORCEINLINE karto::LocalizedRangeScan::LocalizedRangeScan	(	const Identifier &	rSensorIdentifier,
		std::vector< kt_double > &	rRangeReadings
	)		[inline]

Range scan from the given range finder with the given readings

Parameters:

rSensorIdentifier	identifier of sensor that generated this scan
rRangeReadings	vector of range readings

Deprecated:

Please use LocalizedRangeScan(const Name& rSensorIdentifier, const RangeReadingsList& rReadings)

Definition at line 892 of file SensorData.h.

karto::LocalizedRangeScan::LocalizedRangeScan

(

const LocalizedRangeScan &

)

[private]

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Member Function Documentation

void karto::LocalizedRangeScan::ComputePointReadings

(

)

[private, virtual]

Computes point readings based on range readings Only range readings within [minimum range; range threshold] are returned

Implements karto::LocalizedLaserScan.

Definition at line 184 of file SensorData.cpp.

karto::LocalizedRangeScan::KARTO_RTTI

(

)

[private]

Reimplemented from karto::LocalizedLaserScan.

const LocalizedRangeScan& karto::LocalizedRangeScan::operator=

(

const LocalizedRangeScan &

)

[private]

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

• SensorData.h
• SensorData.cpp