#include <Karto.h>

Inheritance diagram for karto::LocalizedRangeScan:

[legend]

Public Member Functions
const Pose2 &	GetBarycenterPose () const

const BoundingBox2 &	GetBoundingBox () const

const Pose2 &	GetCorrectedPose () const

const Pose2 &	GetOdometricPose () const

const PointVectorDouble &	GetPointReadings (kt_bool wantFiltered=false) const

Pose2	GetReferencePose (kt_bool useBarycenter) const

Pose2	GetSensorAt (const Pose2 &rPose) const

Pose2	GetSensorPose () const

	LocalizedRangeScan (const Name &rSensorName, const RangeReadingsVector &rReadings)

void	SetCorrectedPose (const Pose2 &rPose)

void	SetOdometricPose (const Pose2 &rPose)

void	SetSensorPose (const Pose2 &rScanPose)

virtual	~LocalizedRangeScan ()

Public Member Functions inherited from karto::LaserRangeScan
LaserRangeFinder *	GetLaserRangeFinder () const

kt_int32u	GetNumberOfRangeReadings () const

kt_double *	GetRangeReadings () const

RangeReadingsVector	GetRangeReadingsVector () const

	LaserRangeScan (const Name &rSensorName)

	LaserRangeScan (const Name &rSensorName, const RangeReadingsVector &rRangeReadings)

void	SetRangeReadings (const RangeReadingsVector &rRangeReadings)

virtual	~LaserRangeScan ()

Public Member Functions inherited from karto::SensorData
void	AddCustomData (CustomData *pCustomData)

const CustomDataVector &	GetCustomData () const

const Name &	GetSensorName () const

kt_int32s	GetStateId () const

kt_double	GetTime () const

kt_int32s	GetUniqueId () const

void	SetStateId (kt_int32s stateId)

void	SetTime (kt_double time)

void	SetUniqueId (kt_int32u uniqueId)

virtual	~SensorData ()

Public Member Functions inherited from karto::Object
virtual const char *	GetClassName () const =0

const Name &	GetName () const

virtual kt_objecttype	GetObjectType () const =0

AbstractParameter *	GetParameter (const std::string &rName) const

virtual ParameterManager *	GetParameterManager ()

const ParameterVector &	GetParameters () const

	Object ()

	Object (const Name &rName)

template<typename T >
void	SetParameter (const std::string &rName, T value)

virtual	~Object ()

Protected Attributes
Pose2	m_BarycenterPose

BoundingBox2	m_BoundingBox

kt_bool	m_IsDirty

PointVectorDouble	m_PointReadings

PointVectorDouble	m_UnfilteredPointReadings

Private Member Functions
	LocalizedRangeScan (const LocalizedRangeScan &)

const LocalizedRangeScan &	operator= (const LocalizedRangeScan &)

virtual void	Update ()

Private Attributes
Pose2	m_CorrectedPose

boost::shared_mutex	m_Lock

Pose2	m_OdometricPose

Additional Inherited Members
Protected Member Functions inherited from karto::SensorData
	SensorData (const Name &rSensorName)

Protected Member Functions inherited from karto::NonCopyable
	NonCopyable ()

virtual	~NonCopyable ()

Detailed Description

The LocalizedRangeScan contains range data from a single sweep of a laser range finder sensor in a two-dimensional space and position information. The odometer position is the position reported by the robot when the range data was recorded. The corrected position is the position calculated by the mapper (or localizer)

Definition at line 5157 of file Karto.h.

Constructor & Destructor Documentation

karto::LocalizedRangeScan::LocalizedRangeScan	(	const Name &	rSensorName,
		const RangeReadingsVector &	rReadings
	)

inline

Constructs a range scan from the given range finder with the given readings

Definition at line 5168 of file Karto.h.

virtual karto::LocalizedRangeScan::~LocalizedRangeScan ( )

inlinevirtual

Destructor

Definition at line 5177 of file Karto.h.

karto::LocalizedRangeScan::LocalizedRangeScan ( const LocalizedRangeScan & )

private

Member Function Documentation

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

inline

Gets barycenter of point readings

Definition at line 5230 of file Karto.h.

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

inline

Gets the bounding box of this scan

Returns: bounding box of this scan

Definition at line 5306 of file Karto.h.

const Pose2& karto::LocalizedRangeScan::GetCorrectedPose ( ) const

inline

Gets the (possibly corrected) robot pose at which this scan was taken. The corrected robot pose of the scan 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 5211 of file Karto.h.

const Pose2& karto::LocalizedRangeScan::GetOdometricPose ( ) const

inline

Gets the odometric pose of this scan

Returns: odometric pose of this scan

Definition at line 5189 of file Karto.h.

const PointVectorDouble& karto::LocalizedRangeScan::GetPointReadings ( kt_bool wantFiltered = false ) const

inline

Get point readings in local coordinates

Definition at line 5323 of file Karto.h.

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

inline

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

Parameters

useBarycenter

Returns: barycenter if parameter is true, otherwise scanner pose

Definition at line 5249 of file Karto.h.

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

inline

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

Parameters

rPose

Returns: sensor pose

Definition at line 5297 of file Karto.h.

Pose2 karto::LocalizedRangeScan::GetSensorPose ( ) const

inline

Computes the position of the sensor

Returns: scan pose

Definition at line 5267 of file Karto.h.

const LocalizedRangeScan& karto::LocalizedRangeScan::operator= ( const LocalizedRangeScan & )

private

void karto::LocalizedRangeScan::SetCorrectedPose ( const Pose2 & rPose )

inline

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

Parameters

rPose new pose of the robot of this scan

Definition at line 5220 of file Karto.h.

void karto::LocalizedRangeScan::SetOdometricPose ( const Pose2 & rPose )

inline

Sets the odometric pose of this scan

Parameters

rPose

Definition at line 5198 of file Karto.h.

void karto::LocalizedRangeScan::SetSensorPose ( const Pose2 & rScanPose )

inline

Computes the robot pose given the corrected scan pose

Parameters

rScanPose pose of the sensor

Definition at line 5276 of file Karto.h.

virtual void karto::LocalizedRangeScan::Update ( )

inlineprivatevirtual

Compute point readings based on range readings Only range readings within [minimum range; range threshold] are returned

Reimplemented in karto::LocalizedRangeScanWithPoints.

Definition at line 5349 of file Karto.h.

Member Data Documentation

Pose2 karto::LocalizedRangeScan::m_BarycenterPose

protected

Average of all the point readings

Definition at line 5436 of file Karto.h.

BoundingBox2 karto::LocalizedRangeScan::m_BoundingBox

protected

Bounding box of localized range scan

Definition at line 5451 of file Karto.h.

Pose2 karto::LocalizedRangeScan::m_CorrectedPose

private

Corrected pose of robot calculated by mapper (or localizer)

Definition at line 5430 of file Karto.h.

kt_bool karto::LocalizedRangeScan::m_IsDirty

protected

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

Definition at line 5456 of file Karto.h.

boost::shared_mutex karto::LocalizedRangeScan::m_Lock

mutableprivate

Definition at line 5182 of file Karto.h.

Pose2 karto::LocalizedRangeScan::m_OdometricPose

private

Odometric pose of robot

Definition at line 5425 of file Karto.h.

PointVectorDouble karto::LocalizedRangeScan::m_PointReadings

protected

Vector of point readings

Definition at line 5441 of file Karto.h.

PointVectorDouble karto::LocalizedRangeScan::m_UnfilteredPointReadings

protected

Vector of unfiltered point readings

Definition at line 5446 of file Karto.h.

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

Karto.h

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation