rangesensor.cpp
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00001 #include <gmapping/sensor/sensor_range/rangesensor.h>
00002 
00003 namespace GMapping{
00004 
00005 RangeSensor::RangeSensor(std::string name): Sensor(name){}
00006 
00007 RangeSensor::RangeSensor(std::string name, unsigned int beams_num, double res, const OrientedPoint& position, double span, double maxrange):Sensor(name),
00008         m_pose(position), m_beams(beams_num){
00009         double angle=-.5*res*beams_num;
00010         for (unsigned int i=0; i<beams_num; i++, angle+=res){
00011                 RangeSensor::Beam& beam(m_beams[i]);
00012                 beam.span=span;
00013                 beam.pose.x=0;
00014                 beam.pose.y=0;
00015                 beam.pose.theta=angle;
00016                 beam.maxRange=maxrange;
00017         }
00018         newFormat=0;
00019         updateBeamsLookup();
00020 }
00021 
00022 void RangeSensor::updateBeamsLookup(){
00023         for (unsigned int i=0; i<m_beams.size(); i++){
00024                 RangeSensor::Beam& beam(m_beams[i]);
00025                 beam.s=sin(m_beams[i].pose.theta);
00026                 beam.c=cos(m_beams[i].pose.theta);
00027         }
00028 }
00029 
00030 };


openslam_gmapping
Author(s): Giorgio Grisetti, Cyrill Stachniss, Wolfram Burgard
autogenerated on Fri Aug 28 2015 11:56:21