#include <laserscanthread.h>

Public Slots
void	laserScanCallback (const sensor_msgs::LaserScan::ConstPtr &msg)
Signals
void	trianglesFound (std::vector< Eigen::Vector2d, Eigen::aligned_allocator< Eigen::Vector2d > > *triangles)
void	valueChanged ()
Public Member Functions
	LaserScanThread (Abstract_LaserScanner *scanner, double segmentation_lambda, double maxVarianceFilter, double maxAngleDeviation, double variationStep, int variationStepCount)
void	stop ()
	~LaserScanThread ()
Public Attributes
float	angle_spread
double *	data_avg
double *	data_edges
unsigned int	data_field_size
double *	data_filtered
double *	data_raw
double *	data_segments
double *	dx
float	starting_angle
Protected Member Functions
void	calculateGaussianMatrix ()
void	launchSICK ()
void	run ()
Protected Attributes
double *	averagedRanges
Eigen::Vector2d *	coordinates
std::vector< Eigen::Vector2d, Eigen::aligned_allocator < Eigen::Vector2d > >	edgesfound
double	feld [2 *GAUSSIANFIELDSIZE+1]
double *	filteredRanges
double	gaussFactor
LinearApproximator *	linearApproximator
double	markersize = 0.02
double	maxAngleDeviation
double	maxVarianceFilter = 0.15
ros::NodeHandle	nh
double *	rotatingAccumulationWindow [AVERAGINGWINDOW]
ros::Publisher	scanDataPublisher
Abstract_LaserScanner *	scanner
double	segmentation_lambda = 1.5
ros::Publisher	segmentBorderPublisher
ros::Publisher	segmentDataPublisher
std::vector< int >	segmentdistance
std::vector< float >	segments
std::vector< int >	segmentsizes
unsigned int	stepNumber
double	variationStep = 0.006
int	variationStepCount = 2
Static Protected Attributes
static constexpr unsigned int	AVERAGINGWINDOW = 450
static constexpr unsigned int	DETECTIONWINDOW = 10
static constexpr unsigned int	GAUSSIANFIELDSIZE = 20
static constexpr double	sigma = 1.5

Detailed Description

Definition at line 34 of file laserscanthread.h.

Constructor & Destructor Documentation

LaserScanThread::LaserScanThread	(	Abstract_LaserScanner *	scanner,
		double	segmentation_lambda,
		double	maxVarianceFilter,
		double	maxAngleDeviation,
		double	variationStep,
		int	variationStepCount
	)		`[explicit]`

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1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Definition at line 28 of file laserscanthread.cpp.

LaserScanThread::~LaserScanThread ( )

Definition at line 79 of file laserscanthread.cpp.