Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes | List of all members
karto::LocalizedObject Class Reference

#include <SensorData.h>

Inheritance diagram for karto::LocalizedObject:
Inheritance graph
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Public Member Functions

 LocalizedObject (const Identifier &rSensorIdentifier)
 
- Public Member Functions inherited from karto::Object
 Object ()
 
 Object (const Identifier &rIdentifier)
 
- Public Member Functions inherited from karto::Referenced
 Referenced ()
 

Protected Member Functions

const Pose2GetCorrectedPose () const
 
gps::PointGps GetGpsEstimate () const
 
gps::PointGps GetGpsReading () const
 
const Pose2GetOdometricPose () const
 
kt_bool IsGpsEstimateValid () const
 
kt_bool IsGpsReadingValid () const
 
virtual void SetCorrectedPose (const Pose2 &rPose)
 
void SetGpsEstimate (const gps::PointGps &rGpsEstimate)
 
void SetGpsEstimationManager (AbstractGpsEstimationManager *pGpsEstimationManager)
 
void SetGpsReading (const gps::PointGps &rGpsReading)
 
void SetOdometricPose (const Pose2 &rOdometricPose)
 
- Protected Member Functions inherited from karto::SensorData
void AddCustomItem (CustomItem *pCustomItem)
 
const CustomItemList & GetCustomItems () const
 
const IdentifierGetSensorIdentifier () const
 
kt_int32s GetStateId () const
 
kt_int64s GetTime () const
 
kt_int32s GetUniqueId () const
 
kt_bool HasCustomItem ()
 
 SensorData (const Identifier &rSensorIdentifier)
 
void SetSensorIdentifier (const Identifier &rSensorIdentifier)
 
void SetStateId (kt_int32s stateId)
 
void SetTime (kt_int64s time)
 
void SetUniqueId (kt_int32u uniqueId)
 
- Protected Member Functions inherited from karto::Object
const IdentifierGetIdentifier () const
 
AbstractParameterGetParameter (const String &rParameterName) const
 
template<typename T >
Parameter< T > * GetParameter (const String &rParameterName) const
 
ParameterList GetParameters ()
 
ParameterSetGetParameterSet ()
 
template<typename T >
void SetParameters (const karto::String &rParameterName, const T &rValue)
 
- Protected Member Functions inherited from karto::Referenced
kt_int32s GetReferenceCount ()
 
kt_int32s Reference () const
 
kt_int32s Unreference () const
 
kt_int32s UnreferenceNoDelete () const
 

Private Member Functions

 KARTO_RTTI ()
 

Private Attributes

Pose2 m_CorrectedPose
 
gps::PointGps m_GpsEstimate
 
gps::PointGps m_GpsReading
 
kt_bool m_IsGpsEstimateValid
 
kt_bool m_IsGpsReadingValid
 
Pose2 m_OdometricPose
 
AbstractGpsEstimationManagerm_pGpsEstimationManager
 

Detailed Description

Base class for all localized sensor data

Definition at line 356 of file SensorData.h.

Constructor & Destructor Documentation

karto::LocalizedObject::LocalizedObject ( const Identifier rSensorIdentifier)

Localized object from the given sensor

Parameters
rSensorIdentifiersensor identifier

Definition at line 91 of file SensorData.cpp.

Member Function Documentation

const Pose2& karto::LocalizedObject::GetCorrectedPose ( ) const
inlineprotected

Gets the (possibly corrected) robot pose at which this object was taken. The corrected robot pose of the object 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 402 of file SensorData.h.

gps::PointGps karto::LocalizedObject::GetGpsEstimate ( ) const
inlineprotected

Gets the GPS estimate of this scan (return value is meaningless if IsGpsEstimateValid() returns false).

Returns
GPS estimate of this scan

Definition at line 450 of file SensorData.h.

gps::PointGps karto::LocalizedObject::GetGpsReading ( ) const
inlineprotected

Gets the GPS reading of this scan (return value is meaningless if IsGpsReadingValid() returns false).

Returns
GPS reading of this scan

Definition at line 421 of file SensorData.h.

const Pose2& karto::LocalizedObject::GetOdometricPose ( ) const
inlineprotected

public: /** Gets the odometric pose of this object

Returns
odometric pose of this object

Definition at line 380 of file SensorData.h.

kt_bool karto::LocalizedObject::IsGpsEstimateValid ( ) const
inlineprotected

Whether the GPS estimate is valid

Returns
whether the GPS estimate is valid

Definition at line 483 of file SensorData.h.

kt_bool karto::LocalizedObject::IsGpsReadingValid ( ) const
inlineprotected

Whether the GPS reading is valid

Returns
whether the GPS reading is valid

Definition at line 440 of file SensorData.h.

karto::LocalizedObject::KARTO_RTTI ( )
private
virtual void karto::LocalizedObject::SetCorrectedPose ( const Pose2 rPose)
inlineprotectedvirtual

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

Parameters
rPosenew pose of the robot of this scan

Reimplemented in karto::LocalizedLaserScan.

Definition at line 411 of file SensorData.h.

void karto::LocalizedObject::SetGpsEstimate ( const gps::PointGps rGpsEstimate)
inlineprotected

Sets the GPS estimate of this scan

Parameters
rGpsEstimateGPS estimate of this scan

Definition at line 466 of file SensorData.h.

void karto::LocalizedObject::SetGpsEstimationManager ( AbstractGpsEstimationManager pGpsEstimationManager)
inlineprotected

Sets the manager for estimating this scan's GPS coordinate

Parameters
pGpsEstimationManagerGPS estimation manager

Definition at line 499 of file SensorData.h.

void karto::LocalizedObject::SetGpsReading ( const gps::PointGps rGpsReading)
inlineprotected

Sets the GPS reading of this scan

Parameters
rGpsReadingGPS reading of this scan

Definition at line 430 of file SensorData.h.

void karto::LocalizedObject::SetOdometricPose ( const Pose2 rOdometricPose)
inlineprotected

Sets the odometric pose of this object

Parameters
rOdometricPosenew odometric pose

Definition at line 389 of file SensorData.h.

Member Data Documentation

Pose2 karto::LocalizedObject::m_CorrectedPose
private

Corrected pose of object calculated by mapper (or some other module)

Definition at line 513 of file SensorData.h.

gps::PointGps karto::LocalizedObject::m_GpsEstimate
private

GPS estimate of this object (value is meaningless if m_IsGpsEstimateValid is false).

Definition at line 530 of file SensorData.h.

gps::PointGps karto::LocalizedObject::m_GpsReading
private

GPS reading of this object (value is meaningless if m_IsGpsReadingValid is false).

Definition at line 519 of file SensorData.h.

kt_bool karto::LocalizedObject::m_IsGpsEstimateValid
private

Whether the GPS estimate is valid

Definition at line 535 of file SensorData.h.

kt_bool karto::LocalizedObject::m_IsGpsReadingValid
private

Whether the GPS reading is valid

Definition at line 524 of file SensorData.h.

Pose2 karto::LocalizedObject::m_OdometricPose
private

Odometric pose of object

Definition at line 508 of file SensorData.h.

AbstractGpsEstimationManager* karto::LocalizedObject::m_pGpsEstimationManager
private

Manages the location of robot in GPS coordinates

Definition at line 540 of file SensorData.h.


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


nav2d_karto
Author(s): Sebastian Kasperski
autogenerated on Tue Nov 7 2017 06:02:36