#include <laserscanthread.h>

Inheritance diagram for LaserScanThread:

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

Member Function Documentation

void LaserScanThread::calculateGaussianMatrix ( )

protected

Definition at line 113 of file laserscanthread.cpp.

void LaserScanThread::laserScanCallback ( const sensor_msgs::LaserScan::ConstPtr & msg )

slot

Definition at line 142 of file laserscanthread.cpp.

void LaserScanThread::launchSICK ( )

protected

Definition at line 133 of file laserscanthread.cpp.

void LaserScanThread::run ( )

protected

Definition at line 128 of file laserscanthread.cpp.

void LaserScanThread::stop ( )

Definition at line 106 of file laserscanthread.cpp.

void LaserScanThread::trianglesFound ( std::vector< Eigen::Vector2d, Eigen::aligned_allocator< Eigen::Vector2d > > * triangles )

signal

void LaserScanThread::valueChanged ( )

signal

Member Data Documentation

float LaserScanThread::angle_spread

Definition at line 41 of file laserscanthread.h.

double* LaserScanThread::averagedRanges

protected

Definition at line 63 of file laserscanthread.h.

constexpr unsigned int LaserScanThread::AVERAGINGWINDOW = 450

staticprotected

Definition at line 54 of file laserscanthread.h.

Eigen::Vector2d* LaserScanThread::coordinates

protected

Definition at line 66 of file laserscanthread.h.

double* LaserScanThread::data_avg

Definition at line 45 of file laserscanthread.h.

double* LaserScanThread::data_edges

Definition at line 48 of file laserscanthread.h.

unsigned int LaserScanThread::data_field_size

Definition at line 40 of file laserscanthread.h.

double* LaserScanThread::data_filtered

Definition at line 46 of file laserscanthread.h.

double* LaserScanThread::data_raw

Definition at line 44 of file laserscanthread.h.

double* LaserScanThread::data_segments

Definition at line 47 of file laserscanthread.h.

constexpr unsigned int LaserScanThread::DETECTIONWINDOW = 10

staticprotected

Definition at line 55 of file laserscanthread.h.

double* LaserScanThread::dx

Definition at line 43 of file laserscanthread.h.

std::vector<Eigen::Vector2d, Eigen::aligned_allocator<Eigen::Vector2d> > LaserScanThread::edgesfound

protected

Definition at line 67 of file laserscanthread.h.

double LaserScanThread::feld[2 *GAUSSIANFIELDSIZE+1]

protected

Definition at line 68 of file laserscanthread.h.

double* LaserScanThread::filteredRanges

protected

Definition at line 65 of file laserscanthread.h.

double LaserScanThread::gaussFactor

protected

Definition at line 69 of file laserscanthread.h.

constexpr unsigned int LaserScanThread::GAUSSIANFIELDSIZE = 20

staticprotected

Definition at line 53 of file laserscanthread.h.

LinearApproximator* LaserScanThread::linearApproximator

protected

Definition at line 80 of file laserscanthread.h.

double LaserScanThread::markersize = 0.02

protected

Definition at line 76 of file laserscanthread.h.

double LaserScanThread::maxAngleDeviation

protected

Definition at line 71 of file laserscanthread.h.

double LaserScanThread::maxVarianceFilter = 0.15

protected

Definition at line 70 of file laserscanthread.h.

ros::NodeHandle LaserScanThread::nh

protected

Definition at line 82 of file laserscanthread.h.

double* LaserScanThread::rotatingAccumulationWindow[AVERAGINGWINDOW]

protected

Definition at line 64 of file laserscanthread.h.

ros::Publisher LaserScanThread::scanDataPublisher

protected

Definition at line 83 of file laserscanthread.h.

Abstract_LaserScanner* LaserScanThread::scanner

protected

Definition at line 78 of file laserscanthread.h.

double LaserScanThread::segmentation_lambda = 1.5

protected

Definition at line 74 of file laserscanthread.h.

ros::Publisher LaserScanThread::segmentBorderPublisher

protected

Definition at line 85 of file laserscanthread.h.

ros::Publisher LaserScanThread::segmentDataPublisher

protected

Definition at line 84 of file laserscanthread.h.

std::vector<int> LaserScanThread::segmentdistance

protected

Definition at line 62 of file laserscanthread.h.

std::vector<float> LaserScanThread::segments

protected

Definition at line 60 of file laserscanthread.h.

std::vector<int> LaserScanThread::segmentsizes

protected

Definition at line 61 of file laserscanthread.h.

constexpr double LaserScanThread::sigma = 1.5

staticprotected

Definition at line 56 of file laserscanthread.h.

float LaserScanThread::starting_angle

Definition at line 42 of file laserscanthread.h.

unsigned int LaserScanThread::stepNumber

protected

Definition at line 59 of file laserscanthread.h.

double LaserScanThread::variationStep = 0.006

protected

Definition at line 72 of file laserscanthread.h.

int LaserScanThread::variationStepCount = 2

protected

Definition at line 73 of file laserscanthread.h.

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

Public Slots

Signals

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation