Public Member Functions | Protected Attributes | Private Member Functions | Private Attributes
karto::LocalizedRangeScan Class Reference

#include <Karto.h>

Inheritance diagram for karto::LocalizedRangeScan:
Inheritance graph
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List of all members.

Public Member Functions

const Pose2GetBarycenterPose () const
const BoundingBox2GetBoundingBox () const
const Pose2GetCorrectedPose () const
const Pose2GetOdometricPose () const
const PointVectorDoubleGetPointReadings (kt_bool wantFiltered=false) const
Pose2 GetReferencePose (kt_bool useBarycenter) const
Pose2 GetSensorAt (const Pose2 &rPose) const
Pose2 GetSensorPose () const
 LocalizedRangeScan (const Name &rSensorName, const RangeReadingsVector &rReadings)
void SetCorrectedPose (const Pose2 &rPose)
void SetOdometricPose (const Pose2 &rPose)
void SetSensorPose (const Pose2 &rScanPose)
virtual ~LocalizedRangeScan ()

Protected Attributes

Pose2 m_BarycenterPose
BoundingBox2 m_BoundingBox
kt_bool m_IsDirty
PointVectorDouble m_PointReadings
PointVectorDouble m_UnfilteredPointReadings

Private Member Functions

 LocalizedRangeScan (const LocalizedRangeScan &)
const LocalizedRangeScanoperator= (const LocalizedRangeScan &)
virtual void Update ()

Private Attributes

Pose2 m_CorrectedPose
boost::shared_mutex m_Lock
Pose2 m_OdometricPose

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 odometer 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 localizer)

Definition at line 5157 of file Karto.h.


Constructor & Destructor Documentation

karto::LocalizedRangeScan::LocalizedRangeScan ( const Name rSensorName,
const RangeReadingsVector rReadings 
) [inline]

Constructs a range scan from the given range finder with the given readings

Definition at line 5168 of file Karto.h.

virtual karto::LocalizedRangeScan::~LocalizedRangeScan ( ) [inline, virtual]

Destructor

Definition at line 5177 of file Karto.h.


Member Function Documentation

Gets barycenter of point readings

Definition at line 5230 of file Karto.h.

Gets the bounding box of this scan

Returns:
bounding box of this scan

Definition at line 5306 of file Karto.h.

Gets the (possibly corrected) robot pose at which this scan was taken. The corrected robot pose of the scan is usually set by an external module such as a localization or mapping module when it is determined that the original pose was incorrect. The external module will set the correct pose based on additional sensor data and any context information it has. If the pose has not been corrected, a call to this method returns the same pose as GetOdometricPose().

Returns:
corrected pose

Definition at line 5211 of file Karto.h.

Gets the odometric pose of this scan

Returns:
odometric pose of this scan

Definition at line 5189 of file Karto.h.

const PointVectorDouble& karto::LocalizedRangeScan::GetPointReadings ( kt_bool  wantFiltered = false) const [inline]

Get point readings in local coordinates

Definition at line 5323 of file Karto.h.

Pose2 karto::LocalizedRangeScan::GetReferencePose ( kt_bool  useBarycenter) const [inline]

Gets barycenter if the given parameter is true, otherwise returns the scanner pose

Parameters:
useBarycenter
Returns:
barycenter if parameter is true, otherwise scanner pose

Definition at line 5249 of file Karto.h.

Pose2 karto::LocalizedRangeScan::GetSensorAt ( const Pose2 rPose) const [inline]

Computes the position of the sensor if the robot were at the given pose

Parameters:
rPose
Returns:
sensor pose

Definition at line 5297 of file Karto.h.

Computes the position of the sensor

Returns:
scan pose

Definition at line 5267 of file Karto.h.

const LocalizedRangeScan& karto::LocalizedRangeScan::operator= ( const LocalizedRangeScan ) [private]
void karto::LocalizedRangeScan::SetCorrectedPose ( const Pose2 rPose) [inline]

Moves the scan by moving the robot pose to the given location.

Parameters:
rPosenew pose of the robot of this scan

Definition at line 5220 of file Karto.h.

void karto::LocalizedRangeScan::SetOdometricPose ( const Pose2 rPose) [inline]

Sets the odometric pose of this scan

Parameters:
rPose

Definition at line 5198 of file Karto.h.

void karto::LocalizedRangeScan::SetSensorPose ( const Pose2 rScanPose) [inline]

Computes the robot pose given the corrected scan pose

Parameters:
rScanPosepose of the sensor

Definition at line 5276 of file Karto.h.

virtual void karto::LocalizedRangeScan::Update ( ) [inline, private, virtual]

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

Reimplemented in karto::LocalizedRangeScanWithPoints.

Definition at line 5349 of file Karto.h.


Member Data Documentation

Average of all the point readings

Definition at line 5436 of file Karto.h.

Bounding box of localized range scan

Definition at line 5451 of file Karto.h.

Corrected pose of robot calculated by mapper (or localizer)

Definition at line 5430 of file Karto.h.

Internal flag used to update point readings, barycenter and bounding box

Definition at line 5456 of file Karto.h.

boost::shared_mutex karto::LocalizedRangeScan::m_Lock [mutable, private]

Definition at line 5182 of file Karto.h.

Odometric pose of robot

Definition at line 5425 of file Karto.h.

Vector of point readings

Definition at line 5441 of file Karto.h.

Vector of unfiltered point readings

Definition at line 5446 of file Karto.h.


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


open_karto
Author(s):
autogenerated on Thu Jun 6 2019 21:02:57