#include <Karto.h>
Detailed Description
The LaserRangeFinder defines a laser sensor that provides the pose offset position of a localized range scan relative to the robot. The user can set an offset pose for the sensor relative to the robot coordinate system. If no value is provided by the user, the sensor is set to be at the origin of the robot coordinate system. The LaserRangeFinder contains parameters for physical laser sensor used by the mapper for scan matching Also contains information about the maximum range of the sensor and provides a threshold for limiting the range of readings. The optimal value for the range threshold depends on the angular resolution of the scan and the desired map resolution. RangeThreshold should be set as large as possible while still providing "solid" coverage between consecutive range readings. The diagram below illustrates the relationship between map resolution and the range threshold.
Constructor & Destructor Documentation
| virtual karto::LaserRangeFinder::~LaserRangeFinder | ( | ) | [inline, virtual] |
| karto::LaserRangeFinder::LaserRangeFinder | ( | const Name & | rName | ) | [inline, private] |
Constructs a LaserRangeFinder object with given ID
| karto::LaserRangeFinder::LaserRangeFinder | ( | const LaserRangeFinder & | ) | [private] |
Member Function Documentation
| static LaserRangeFinder* karto::LaserRangeFinder::CreateLaserRangeFinder | ( | LaserRangeFinderType | type, |
| const Name & | rName | ||
| ) | [inline, static] |
| kt_double karto::LaserRangeFinder::GetAngularResolution | ( | ) | const [inline] |
| kt_double karto::LaserRangeFinder::GetMaximumAngle | ( | ) | const [inline] |
| kt_double karto::LaserRangeFinder::GetMaximumRange | ( | ) | const [inline] |
| kt_double karto::LaserRangeFinder::GetMinimumAngle | ( | ) | const [inline] |
| kt_double karto::LaserRangeFinder::GetMinimumRange | ( | ) | const [inline] |
| kt_int32u karto::LaserRangeFinder::GetNumberOfRangeReadings | ( | ) | const [inline] |
| const PointVectorDouble karto::LaserRangeFinder::GetPointReadings | ( | LocalizedRangeScan * | pLocalizedRangeScan, |
| CoordinateConverter * | pCoordinateConverter, | ||
| kt_bool | ignoreThresholdPoints = true, |
||
| kt_bool | flipY = false |
||
| ) | const |
| kt_double karto::LaserRangeFinder::GetRangeThreshold | ( | ) | const [inline] |
| kt_int32s karto::LaserRangeFinder::GetType | ( | ) | [inline] |
| const LaserRangeFinder& karto::LaserRangeFinder::operator= | ( | const LaserRangeFinder & | ) | [private] |
| void karto::LaserRangeFinder::SetAngularResolution | ( | kt_double | angularResolution | ) | [inline] |
| void karto::LaserRangeFinder::SetMaximumAngle | ( | kt_double | maximumAngle | ) | [inline] |
| void karto::LaserRangeFinder::SetMaximumRange | ( | kt_double | maximumRange | ) | [inline] |
| void karto::LaserRangeFinder::SetMinimumAngle | ( | kt_double | minimumAngle | ) | [inline] |
| void karto::LaserRangeFinder::SetMinimumRange | ( | kt_double | minimumRange | ) | [inline] |
| void karto::LaserRangeFinder::SetRangeThreshold | ( | kt_double | rangeThreshold | ) | [inline] |
| void karto::LaserRangeFinder::Update | ( | ) | [inline, private] |
| virtual kt_bool karto::LaserRangeFinder::Validate | ( | ) | [inline, virtual] |
| kt_bool karto::LaserRangeFinder::Validate | ( | SensorData * | pSensorData | ) | [virtual] |
Validates sensor data
- Parameters:
-
pSensorData sensor data
- Returns:
- true if valid
Implements karto::Sensor.
Member Data Documentation
ParameterEnum* karto::LaserRangeFinder::m_pType [private] |
The documentation for this class was generated from the following files: