beluga_ros::LaserScan Class Reference

Thin wrapper type for 2D sensor_msgs/LaserScan messages. More...

#include <laser_scan.hpp>

Inheritance diagram for beluga_ros::LaserScan:

Public Types
using	Scalar = double
	Range type. More...

Public Member Functions
auto	angles () const
	Get laser scan measurement angles as a range. More...
	LaserScan (beluga_ros::msg::LaserScanConstSharedPtr scan, Sophus::SE3d origin=Sophus::SE3d(), std::size_t max_beams=std::numeric_limits< std::size_t >::max(), Scalar min_range=std::numeric_limits< Scalar >::min(), Scalar max_range=std::numeric_limits< Scalar >::max())
auto	max_range () const
	Get the maximum range measurement. More...
auto	min_range () const
	Get the minimum range measurement. More...
const auto &	origin () const
	Get the laser scan frame origin in the filter frame. More...
auto	ranges () const
	Get laser scan range measurements as a range. More...
Public Member Functions inherited from beluga::BaseLaserScan< LaserScan >
auto	points_in_cartesian_coordinates () const
auto	points_in_polar_coordinates () const

Private Attributes
std::size_t	max_beams_
Scalar	max_range_
Scalar	min_range_
Sophus::SE3d	origin_
beluga_ros::msg::LaserScanConstSharedPtr	scan_

Detailed Description

Thin wrapper type for 2D sensor_msgs/LaserScan messages.

Definition at line 34 of file laser_scan.hpp.

Member Typedef Documentation

Scalar

using beluga_ros::LaserScan::Scalar = double

Range type.

Definition at line 37 of file laser_scan.hpp.

Constructor & Destructor Documentation

LaserScan()

beluga_ros::LaserScan::LaserScan ( beluga_ros::msg::LaserScanConstSharedPtr  scan, Sophus::SE3d  origin = Sophus::SE3d(), std::size_t  max_beams = std::numeric_limits<std::size_t>::max(), Scalar  min_range = std::numeric_limits<Scalar>::min(), Scalar  max_range = std::numeric_limits<Scalar>::max()  )

inlineexplicit

Constructor.

Parameters

scan	Laser scan message.
origin	Laser scan frame origin in the filter frame. Note it is a transform in 3D because the frame lidars typically report data in is in general not coplanar with the plane on which 2D localization operates.
max_beams	Maximum number of beams to consider.
min_range	Minimum allowed range value (in meters).
max_range	Maximum allowed range value (in meters).

Definition at line 49 of file laser_scan.hpp.

Member Function Documentation

angles()

auto beluga_ros::LaserScan::angles ( ) const

inline

Get laser scan measurement angles as a range.

Definition at line 67 of file laser_scan.hpp.

max_range()

auto beluga_ros::LaserScan::max_range ( ) const

inline

Get the maximum range measurement.

Definition at line 84 of file laser_scan.hpp.

min_range()

auto beluga_ros::LaserScan::min_range ( ) const

inline

Get the minimum range measurement.

Definition at line 81 of file laser_scan.hpp.

origin()

const auto& beluga_ros::LaserScan::origin ( ) const

inline

Get the laser scan frame origin in the filter frame.

Definition at line 64 of file laser_scan.hpp.

ranges()

auto beluga_ros::LaserScan::ranges ( ) const

inline

Get laser scan range measurements as a range.

Definition at line 75 of file laser_scan.hpp.

Member Data Documentation

max_beams_

std::size_t beluga_ros::LaserScan::max_beams_

private

Definition at line 89 of file laser_scan.hpp.

max_range_

Scalar beluga_ros::LaserScan::max_range_

private

Definition at line 91 of file laser_scan.hpp.

min_range_

Scalar beluga_ros::LaserScan::min_range_

private

Definition at line 90 of file laser_scan.hpp.

origin_

Sophus::SE3d beluga_ros::LaserScan::origin_

private

Definition at line 88 of file laser_scan.hpp.

scan_

beluga_ros::msg::LaserScanConstSharedPtr beluga_ros::LaserScan::scan_

private

Definition at line 87 of file laser_scan.hpp.

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

• laser_scan.hpp