#include <OpenMapper.h>

Public Member Functions
void	AddLocalizedObject (LocalizedObject *pObject)

void	AddRunningScan (LocalizedLaserScan *pScan)

void	Clear ()

void	ClearLastScan (const Identifier &rSensorName)

LocalizedObjectList	GetAllObjects ()

LocalizedLaserScanList	GetAllScans ()

LocalizedLaserScan *	GetLastScan (const Identifier &rSensorName)

LocalizedObject *	GetLocalizedObject (const Identifier &rSensorName, kt_int32s stateId)

LocalizedObject *	GetLocalizedObject (kt_int32s uniqueId)

LocalizedLaserScanList &	GetRunningScans (const Identifier &rSensorName)

kt_int32s	GetScanIndex (LocalizedLaserScan *pScan)

LocalizedLaserScanList &	GetScans (const Identifier &rSensorName)

List< Identifier >	GetSensorNames ()

	MapperSensorManager (kt_int32u runningBufferMaximumSize, kt_double runningBufferMaximumDistance)

void	RegisterSensor (const Identifier &rSensorName)

void	SetLastScan (LocalizedLaserScan *pScan)

virtual	~MapperSensorManager ()

Private Member Functions
SensorDataManager *	GetSensorDataManager (LocalizedObject *pObject)

SensorDataManager *	GetSensorDataManager (const Identifier &rSensorName)

Private Attributes
MapperSensorManagerPrivate *	m_pMapperSensorManagerPrivate

Detailed Description

Manages the sensors for the mapper

Definition at line 1240 of file OpenMapper.h.

Constructor & Destructor Documentation

karto::MapperSensorManager::MapperSensorManager	(	kt_int32u	runningBufferMaximumSize,
		kt_double	runningBufferMaximumDistance
	)

Sensor manager with the given parameters for the running buffer of each sensor

Parameters

runningBufferMaximumSize	maximum size for the running buffer used in scan-matching
runningBufferMaximumDistance	maximum distance between first and last scan in the running buffer

Definition at line 226 of file OpenMapper.cpp.

karto::MapperSensorManager::~MapperSensorManager ( )

virtual

Destructor

Definition at line 234 of file OpenMapper.cpp.

Member Function Documentation

void karto::MapperSensorManager::AddLocalizedObject ( LocalizedObject * pObject )

Adds localized object to object list of sensor that recorded the object

Parameters

pObject object

Definition at line 294 of file OpenMapper.cpp.

void karto::MapperSensorManager::AddRunningScan ( LocalizedLaserScan * pScan )

Adds scan to running scans of sensor that recorded scan

Parameters

pScan scan

Definition at line 301 of file OpenMapper.cpp.

void karto::MapperSensorManager::Clear ( )

Deletes all scan managers of all sensors

Definition at line 347 of file OpenMapper.cpp.

void karto::MapperSensorManager::ClearLastScan ( const Identifier & rSensorName )

Resets the last scan of the given sensor

Parameters

rSensorName name of sensor

Definition at line 289 of file OpenMapper.cpp.

karto::LocalizedObjectList karto::MapperSensorManager::GetAllObjects ( )

Gets all objects of all sensors

Returns: all objects of all sensors

Definition at line 334 of file OpenMapper.cpp.

LocalizedLaserScanList karto::MapperSensorManager::GetAllScans ( )

Gets all scans of all sensors

Returns: all scans of all sensors

Definition at line 321 of file OpenMapper.cpp.

LocalizedLaserScan * karto::MapperSensorManager::GetLastScan ( const Identifier & rSensorName )

Gets last scan of given sensor

Parameters

rSensorName name of sensor

Returns: last localized laser scan of sensor

Definition at line 279 of file OpenMapper.cpp.

LocalizedObject * karto::MapperSensorManager::GetLocalizedObject	(	const Identifier &	rSensorName,
		kt_int32s	stateId
	)

Gets object from given sensor with given ID

Parameters

rSensorName	name of sensor
stateId	state id

Returns: localized object

Definition at line 249 of file OpenMapper.cpp.

LocalizedObject * karto::MapperSensorManager::GetLocalizedObject ( kt_int32s uniqueId )

Gets the object with the given unique id

Parameters

uniqueId unique id

Returns: object with given id

Definition at line 262 of file OpenMapper.cpp.

LocalizedLaserScanList & karto::MapperSensorManager::GetRunningScans ( const Identifier & rSensorName )

Gets running scans of sensor

Parameters

rSensorName name of sensor

Returns: running scans of sensor

Definition at line 316 of file OpenMapper.cpp.

kt_int32s karto::MapperSensorManager::GetScanIndex ( LocalizedLaserScan * pScan )

Gets the index of this scan in the sensor's list of scans; useful when wanting to quickly find neighboring processed scans

Parameters

pScan scan

Returns: index of scan into sensor's list of scans; -1 if not found

Definition at line 311 of file OpenMapper.cpp.

LocalizedLaserScanList & karto::MapperSensorManager::GetScans ( const Identifier & rSensorName )

Gets scans of sensor

Parameters

rSensorName name of sensor

Returns: scans of sensor

Definition at line 306 of file OpenMapper.cpp.

SensorDataManager* karto::MapperSensorManager::GetSensorDataManager ( LocalizedObject * pObject )

inlineprivate

Gets the sensor data manager for the given localized object

Returns: sensor data manager

Definition at line 1359 of file OpenMapper.h.

SensorDataManager * karto::MapperSensorManager::GetSensorDataManager ( const Identifier & rSensorName )

private

Gets the sensor data manager for the given id

Parameters

rSensorName name of sensor

Returns: sensor data manager

Definition at line 357 of file OpenMapper.cpp.

List< Identifier > karto::MapperSensorManager::GetSensorNames ( )

Gets names of all sensors

Returns: list of sensor names

Definition at line 268 of file OpenMapper.cpp.

void karto::MapperSensorManager::RegisterSensor ( const Identifier & rSensorName )

Registers a sensor (with given name); do nothing if sensor already registered

Parameters

rSensorName name of sensor

Definition at line 241 of file OpenMapper.cpp.

void karto::MapperSensorManager::SetLastScan ( LocalizedLaserScan * pScan )

Sets the last scan of sensor to the given scan

Parameters

pScan scan

Definition at line 284 of file OpenMapper.cpp.

Member Data Documentation

MapperSensorManagerPrivate* karto::MapperSensorManager::m_pMapperSensorManagerPrivate

private

Definition at line 1372 of file OpenMapper.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation