laser_filters::LaserArrayFilter Class Reference

A class to provide median filtering of laser scans in time. More...

#include <array_filter.h>

Inheritance diagram for laser_filters::LaserArrayFilter:

Public Member Functions
bool	configure ()
	LaserArrayFilter ()
	Constructor. More...
bool	update (const sensor_msgs::LaserScan &scan_in, sensor_msgs::LaserScan &scan_out)
	Update the filter and get the response. More...
	~LaserArrayFilter ()
Public Member Functions inherited from filters::FilterBase< sensor_msgs::LaserScan >
bool	configure (const std::string &param_name, ros::NodeHandle node_handle=ros::NodeHandle())
bool	configure (XmlRpc::XmlRpcValue &config)
	FilterBase ()
const std::string &	getName () const
std::string	getType ()
virtual	~FilterBase ()

Private Attributes
boost::mutex	data_lock
unsigned int	filter_length_
XmlRpc::XmlRpcValue	intensity_config_
filters::MultiChannelFilterChain< float > *	intensity_filter_
unsigned int	num_ranges_
	How many scans to average over. More...
XmlRpc::XmlRpcValue	range_config_
	How many data point are in each row. More...
filters::MultiChannelFilterChain< float > *	range_filter_
sensor_msgs::LaserScan	temp_scan_
	Protection from multi threaded programs. More...

Additional Inherited Members
Protected Member Functions inherited from filters::FilterBase< sensor_msgs::LaserScan >
bool	getParam (const std::string &name, std::string &value) const
bool	getParam (const std::string &name, XmlRpc::XmlRpcValue &value) const
bool	getParam (const std::string &name, double &value) const
bool	getParam (const std::string &name, std::vector< double > &value) const
bool	getParam (const std::string &name, unsigned int &value) const
bool	getParam (const std::string &name, int &value) const
bool	getParam (const std::string &name, std::vector< std::string > &value) const
bool	getParam (const std::string &name, bool &value) const
bool	loadConfiguration (XmlRpc::XmlRpcValue &config)
Protected Attributes inherited from filters::FilterBase< sensor_msgs::LaserScan >
bool	configured_
std::string	filter_name_
std::string	filter_type_
string_map_t	params_

Detailed Description

A class to provide median filtering of laser scans in time.

Definition at line 49 of file array_filter.h.

Constructor & Destructor Documentation

LaserArrayFilter()

laser_filters::LaserArrayFilter::LaserArrayFilter

(

)

Constructor.

Parameters

averaging_length

How many scans to average over.

Definition at line 35 of file array_filter.cpp.

~LaserArrayFilter()

laser_filters::LaserArrayFilter::~LaserArrayFilter

(

)

Definition at line 76 of file array_filter.cpp.

Member Function Documentation

configure()

bool laser_filters::LaserArrayFilter::configure ( )

virtual

Implements filters::FilterBase< sensor_msgs::LaserScan >.

Definition at line 41 of file array_filter.cpp.

update()

bool laser_filters::LaserArrayFilter::update ( const sensor_msgs::LaserScan &  scan_in, sensor_msgs::LaserScan &  scan_out  )

virtual

Update the filter and get the response.

Parameters

scan_in	The new scan to filter
scan_out	The filtered scan

Quickly pass through all data

Todo:

don't copy data too

Todo:

check for length of intensities too

Implements filters::FilterBase< sensor_msgs::LaserScan >.

Definition at line 85 of file array_filter.cpp.

Member Data Documentation

data_lock

boost::mutex laser_filters::LaserArrayFilter::data_lock

private

Definition at line 74 of file array_filter.h.

filter_length_

unsigned int laser_filters::LaserArrayFilter::filter_length_

private

Definition at line 68 of file array_filter.h.

intensity_config_

XmlRpc::XmlRpcValue laser_filters::LaserArrayFilter::intensity_config_

private

Definition at line 72 of file array_filter.h.

intensity_filter_

filters::MultiChannelFilterChain<float>* laser_filters::LaserArrayFilter::intensity_filter_

private

Definition at line 78 of file array_filter.h.

num_ranges_

unsigned int laser_filters::LaserArrayFilter::num_ranges_

private

How many scans to average over.

Definition at line 69 of file array_filter.h.

range_config_

XmlRpc::XmlRpcValue laser_filters::LaserArrayFilter::range_config_

private

How many data point are in each row.

Definition at line 71 of file array_filter.h.

range_filter_

filters::MultiChannelFilterChain<float>* laser_filters::LaserArrayFilter::range_filter_

private

Todo:

cache only shallow info not full scan

Definition at line 77 of file array_filter.h.

temp_scan_

sensor_msgs::LaserScan laser_filters::LaserArrayFilter::temp_scan_

private

Protection from multi threaded programs.

Definition at line 75 of file array_filter.h.

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

• array_filter.h
• array_filter.cpp