#include <SensorData.h>

Inheritance diagram for karto::LocalizedLaserScan:

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Public Member Functions
const Pose2 &	GetBarycenterPose () const

const BoundingBox2 &	GetBoundingBox () const

LaserRangeFinder *	GetLaserRangeFinder () const

kt_size_t	GetNumberOfRangeReadings () const

const Vector2dList &	GetPointReadings (kt_bool wantFiltered=false) const

const RangeReadingsList &	GetRangeReadings () const

Pose2	GetReferencePose (kt_bool useBarycenter) const

Pose2	GetSensorAt (const Pose2 &rPose) const

Pose2	GetSensorPose () const

virtual void	SetCorrectedPose (const Pose2 &rCorrectedPose)

void	SetSensorPose (const Pose2 &rSensorPose)

Public Member Functions inherited from karto::LocalizedObject
	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
virtual void	ComputePointReadings ()=0

virtual const Vector2dList &	GetFilteredPointReadings () const

virtual const Vector2dList &	GetUnfilteredPointReadings () const

	LocalizedLaserScan (const Identifier &rSensorIdentifier)

void	Update ()

virtual	~LocalizedLaserScan ()

Protected Member Functions inherited from karto::LocalizedObject
const Pose2 &	GetCorrectedPose () const

gps::PointGps	GetGpsEstimate () const

gps::PointGps	GetGpsReading () const

const Pose2 &	GetOdometricPose () const

kt_bool	IsGpsEstimateValid () const

kt_bool	IsGpsReadingValid () const

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 Identifier &	GetSensorIdentifier () 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 Identifier &	GetIdentifier () const

AbstractParameter *	GetParameter (const String &rParameterName) const

template<typename T >
Parameter< T > *	GetParameter (const String &rParameterName) const

ParameterList	GetParameters ()

ParameterSet *	GetParameterSet ()

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

Protected Attributes
Vector2dList	m_FilteredPointReadings

RangeReadingsList	m_RangeReadings

Vector2dList	m_UnfilteredPointReadings

Private Member Functions
	KARTO_RTTI ()

Private Attributes
Pose2	m_BarycenterPose

BoundingBox2	m_BoundingBox

kt_bool	m_IsDirty

Identifier	m_SensorIdentifier

Detailed Description

Base class for localized laser scans

Definition at line 567 of file SensorData.h.

Constructor & Destructor Documentation

karto::LocalizedLaserScan::LocalizedLaserScan ( const Identifier & rSensorIdentifier )

protected

Localized laser scan from the given sensor

Parameters

rSensorIdentifier sensor identifier

Definition at line 107 of file SensorData.cpp.

karto::LocalizedLaserScan::~LocalizedLaserScan ( )

protectedvirtual

Definition at line 113 of file SensorData.cpp.

Member Function Documentation

virtual void karto::LocalizedLaserScan::ComputePointReadings ( )

protectedpure virtual

Computes point readings in global coordinates

Implemented in karto::LocalizedRangeScan, and karto::LocalizedPointScan.

const Pose2& karto::LocalizedLaserScan::GetBarycenterPose ( ) const

inline

Gets barycenter of point readings

Returns: barycenter of point readings

Definition at line 596 of file SensorData.h.

const BoundingBox2& karto::LocalizedLaserScan::GetBoundingBox ( ) const

inline

Gets the bounding box of this scan

Returns: bounding box of this scan

Definition at line 666 of file SensorData.h.

virtual const Vector2dList& karto::LocalizedLaserScan::GetFilteredPointReadings ( ) const

inlineprotectedvirtual

Gets filtered points readings

Returns: filtered point readings

Definition at line 724 of file SensorData.h.

LaserRangeFinder* karto::LocalizedLaserScan::GetLaserRangeFinder ( ) const

inline

Gets the laser range finder sensor that generated this scan

Returns: laser range finder sensor of this scan

Definition at line 576 of file SensorData.h.

kt_size_t karto::LocalizedLaserScan::GetNumberOfRangeReadings ( ) const

inline

Gets the number of range readings

Returns: number of range readings

Definition at line 697 of file SensorData.h.

const Vector2dList & karto::LocalizedLaserScan::GetPointReadings ( kt_bool wantFiltered = false ) const

Gets the point readings of this scan

Parameters

wantFiltered whether filtered points are to be included or not

Returns: list of point readings

Definition at line 152 of file SensorData.cpp.

const RangeReadingsList& karto::LocalizedLaserScan::GetRangeReadings ( ) const

inline

Gets the range readings of this scan

Returns: range readings of this scan

Definition at line 688 of file SensorData.h.

Pose2 karto::LocalizedLaserScan::GetReferencePose ( kt_bool useBarycenter ) const

inline

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

Parameters

useBarycenter whether to use the barycenter as the reference pose

Returns: barycenter if given parameter is true, otherwise scanner pose

Definition at line 612 of file SensorData.h.

Pose2 karto::LocalizedLaserScan::GetSensorAt ( const Pose2 & rPose ) const

inline

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

Parameters

rPose hypothesized pose

Returns: sensor pose at the given pose

Definition at line 657 of file SensorData.h.

Pose2 karto::LocalizedLaserScan::GetSensorPose ( ) const

inline

Computes the position of the sensor

Returns: sensor pose

Definition at line 627 of file SensorData.h.

virtual const Vector2dList& karto::LocalizedLaserScan::GetUnfilteredPointReadings ( ) const

inlineprotectedvirtual

Gets raw points readings

Returns: raw point readings

Definition at line 733 of file SensorData.h.

karto::LocalizedLaserScan::KARTO_RTTI ( )

private

virtual void karto::LocalizedLaserScan::SetCorrectedPose ( const Pose2 & rCorrectedPose )

inlinevirtual

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

Parameters

rCorrectedPose new pose of the robot of this scan

Reimplemented from karto::LocalizedObject.

Definition at line 585 of file SensorData.h.

void karto::LocalizedLaserScan::SetSensorPose ( const Pose2 & rSensorPose )

inline

Computes the robot pose from the given sensor pose

Parameters

rSensorPose new pose of the sensor

Definition at line 636 of file SensorData.h.

void karto::LocalizedLaserScan::Update ( )

protected

Computes the point readings, bounding box, and barycenter of the scan

Definition at line 117 of file SensorData.cpp.

Member Data Documentation

Pose2 karto::LocalizedLaserScan::m_BarycenterPose

private

Average of all the point readings

Definition at line 763 of file SensorData.h.

BoundingBox2 karto::LocalizedLaserScan::m_BoundingBox

private

Bounding box of localized range scan

Definition at line 768 of file SensorData.h.

Vector2dList karto::LocalizedLaserScan::m_FilteredPointReadings

protected

List of filtered point readings

Definition at line 742 of file SensorData.h.

kt_bool karto::LocalizedLaserScan::m_IsDirty

private

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

Definition at line 773 of file SensorData.h.

RangeReadingsList karto::LocalizedLaserScan::m_RangeReadings

protected

List of unfiltered ranges

Definition at line 752 of file SensorData.h.

Identifier karto::LocalizedLaserScan::m_SensorIdentifier

private

Name of sensor that created this scan

Definition at line 758 of file SensorData.h.

Vector2dList karto::LocalizedLaserScan::m_UnfilteredPointReadings

protected

List of unfiltered point readings

Definition at line 747 of file SensorData.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation