#include <crossing_detector.h>
Public Member Functions | |
| Crossing | crossingDescriptor (const PlaceProfile &profile, const bool normalize=false) |
| CrossingDetector (const double frontier_width, const double max_frontier_angle=1.0) | |
| vector< Frontier > | frontiers (const PlaceProfile &profile, const bool normalize=false) |
| double | getFrontierWidth () const |
| double | getMaxFrontierAngle () const |
| double | getMinRelevance () const |
| PlaceProfile | getPlaceProfile () const |
| void | setFrontierWidth (const double value) |
| void | setMaxFrontierAngle (const double value) |
| void | setMinRelevance (const double value) |
Protected Member Functions | |
| vector< Frontier > | frontiers_ () const |
Protected Attributes | |
| PlaceProfile | place_profile_ |
| PlaceProfile used to compute the crossing. | |
Private Member Functions | |
| vector< Point > | delaunayInput (const PlaceProfile &profile) const |
Private Attributes | |
| double | frontier_width_ |
| Min. frontier width, i.e. space turough which a robot can go (m). | |
| double | max_frontier_angle_ |
| double | min_relevance_ |
Detailed Description
Definition at line 38 of file crossing_detector.h.
Constructor & Destructor Documentation
| crossing_detector::CrossingDetector::CrossingDetector | ( | const double | frontier_width, |
| const double | max_frontier_angle = 1.0 |
||
| ) |
Definition at line 102 of file crossing_detector.cpp.
Member Function Documentation
| Crossing crossing_detector::CrossingDetector::crossingDescriptor | ( | const PlaceProfile & | profile, |
| const bool | normalize = false |
||
| ) |
Return a lama_msgs/Crossing message from analysis of a lama_msgs/PlaceProfile
profile[in] PlaceProfile message. normalize[in] true if the PlaceProfile should be normalized in a first step.
Definition at line 117 of file crossing_detector.cpp.
| vector< Point > crossing_detector::CrossingDetector::delaunayInput | ( | const PlaceProfile & | profile | ) | const [private] |
Return a list of points suited for Delaunay
Definition at line 274 of file crossing_detector.cpp.
| vector< Frontier > crossing_detector::CrossingDetector::frontiers | ( | const PlaceProfile & | profile, |
| const bool | normalize = false |
||
| ) |
Return a list of frontiers.
Frontiers can be an excluded segment (or a series of them) or a normal segment.
profile[in] PlaceProfile message. normalize[in] true if the PlaceProfile should be normalized in a first step.
Definition at line 258 of file crossing_detector.cpp.
| vector< Frontier > crossing_detector::CrossingDetector::frontiers_ | ( | ) | const [protected] |
Return frontiers computed from place_profile_.
Frontiers can be an excluded segment (or a series of them) or a normal segment. Uses place_profile_ as input.
Definition at line 199 of file crossing_detector.cpp.
| double crossing_detector::CrossingDetector::getFrontierWidth | ( | ) | const [inline] |
Definition at line 47 of file crossing_detector.h.
| double crossing_detector::CrossingDetector::getMaxFrontierAngle | ( | ) | const [inline] |
Definition at line 50 of file crossing_detector.h.
| double crossing_detector::CrossingDetector::getMinRelevance | ( | ) | const [inline] |
Definition at line 53 of file crossing_detector.h.
| PlaceProfile crossing_detector::CrossingDetector::getPlaceProfile | ( | ) | const [inline] |
Definition at line 56 of file crossing_detector.h.
| void crossing_detector::CrossingDetector::setFrontierWidth | ( | const double | value | ) | [inline] |
Definition at line 48 of file crossing_detector.h.
| void crossing_detector::CrossingDetector::setMaxFrontierAngle | ( | const double | value | ) | [inline] |
Definition at line 51 of file crossing_detector.h.
| void crossing_detector::CrossingDetector::setMinRelevance | ( | const double | value | ) | [inline] |
Definition at line 54 of file crossing_detector.h.
Member Data Documentation
double crossing_detector::CrossingDetector::frontier_width_ [private] |
Min. frontier width, i.e. space turough which a robot can go (m).
Definition at line 69 of file crossing_detector.h.
double crossing_detector::CrossingDetector::max_frontier_angle_ [private] |
Max. angle between frontier and line from robot to frontier (rad). 0 means that the angle between the line from robot to frontier middle and the frontier is 90 deg.
Definition at line 70 of file crossing_detector.h.
double crossing_detector::CrossingDetector::min_relevance_ [private] |
Points with relevance smaller than this will be removed (m). Defaults to 0.01.
Definition at line 73 of file crossing_detector.h.
PlaceProfile crossing_detector::CrossingDetector::place_profile_ [protected] |
PlaceProfile used to compute the crossing.
Definition at line 62 of file crossing_detector.h.
The documentation for this class was generated from the following files: