#include <Karto.h>

Inheritance diagram for karto::LocalizedRangeScan:

[legend]

Public Member Functions
const Pose2 &	GetBarycenterPose () const

const BoundingBox2 &	GetBoundingBox () const

Pose2	GetCorrectedAt (const Pose2 &sPose) const
	Computes the pose of the robot if the sensor were at the given pose. More...

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 ()

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

void	SetBarycenterPose (Pose2 &bcenter)

void	SetBoundingBox (BoundingBox2 &bbox)

void	SetCorrectedPose (const Pose2 &rPose)

void	SetCorrectedPoseAndUpdate (const Pose2 &rPose)

void	SetIsDirty (kt_bool &rIsDirty)

void	SetOdometricPose (const Pose2 &rPose)

void	SetPointReadings (PointVectorDouble &points, kt_bool setFiltered=false)

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 ()

	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

	SensorData ()

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)

	Object (const Object &)

const Object &	operator= (const Object &)

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

virtual	~Object ()

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

template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

virtual	~NonCopyable ()

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 &)

template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

virtual void	Update ()

Private Attributes
Pose2	m_CorrectedPose

std::shared_mutex	m_Lock

Pose2	m_OdometricPose

Friends
class	boost::serialization::access

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

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 5505 of file Karto.h.

Constructor & Destructor Documentation

◆ LocalizedRangeScan() [1/3]

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 5516 of file Karto.h.

◆ LocalizedRangeScan() [2/3]

karto::LocalizedRangeScan::LocalizedRangeScan ( )

inline

Definition at line 5522 of file Karto.h.

◆ ~LocalizedRangeScan()

virtual karto::LocalizedRangeScan::~LocalizedRangeScan ( )

inlinevirtual

Destructor

Definition at line 5528 of file Karto.h.

◆ LocalizedRangeScan() [3/3]

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

private

Member Function Documentation

◆ GetBarycenterPose()

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

inline

Gets barycenter of point readings

Definition at line 5592 of file Karto.h.

◆ GetBoundingBox()

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

inline

Gets the bounding box of this scan

Returns: bounding box of this scan

Definition at line 5688 of file Karto.h.

◆ GetCorrectedAt()

Pose2 karto::LocalizedRangeScan::GetCorrectedAt ( const Pose2 & sPose ) const

inline

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

Parameters

sPose sensor pose

Returns: robot pose

Definition at line 5670 of file Karto.h.

◆ GetCorrectedPose()

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 5562 of file Karto.h.

◆ GetOdometricPose()

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

inline

Gets the odometric pose of this scan

Returns: odometric pose of this scan

Definition at line 5540 of file Karto.h.

◆ GetPointReadings()

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

inline

Get point readings in local coordinates

Definition at line 5710 of file Karto.h.

◆ GetReferencePose()

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 5616 of file Karto.h.

◆ GetSensorAt()

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 5660 of file Karto.h.

◆ GetSensorPose()

Pose2 karto::LocalizedRangeScan::GetSensorPose ( ) const

inline

Computes the position of the sensor

Returns: scan pose

Definition at line 5634 of file Karto.h.

◆ operator=()

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

private

◆ serialize()

template<class Archive >

void karto::LocalizedRangeScan::serialize	(	Archive &	ar,
		const unsigned int	version
	)

inlineprivate

Definition at line 5821 of file Karto.h.

◆ SetBarycenterPose()

void karto::LocalizedRangeScan::SetBarycenterPose ( Pose2 & bcenter )

inline

Definition at line 5606 of file Karto.h.

◆ SetBoundingBox()

void karto::LocalizedRangeScan::SetBoundingBox ( BoundingBox2 & bbox )

inline

Definition at line 5702 of file Karto.h.

◆ SetCorrectedPose()

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 5571 of file Karto.h.

◆ SetCorrectedPoseAndUpdate()

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

inline

Moves the scan by moving the robot pose to the given location and update point readings.

Parameters

rPose new pose of the robot of this scan

Definition at line 5582 of file Karto.h.

◆ SetIsDirty()

void karto::LocalizedRangeScan::SetIsDirty ( kt_bool & rIsDirty )

inline

Definition at line 5639 of file Karto.h.

◆ SetOdometricPose()

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

inline

Sets the odometric pose of this scan

Parameters

rPose

Definition at line 5549 of file Karto.h.

◆ SetPointReadings()

void karto::LocalizedRangeScan::SetPointReadings	(	PointVectorDouble &	points,
		kt_bool	setFiltered = `false`
	)

inline

Definition at line 5731 of file Karto.h.

◆ SetSensorPose()

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 5648 of file Karto.h.

◆ Update()

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 5748 of file Karto.h.

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access

friend

Serialization: class LocalizedRangeScan

Definition at line 5819 of file Karto.h.

Member Data Documentation

◆ m_BarycenterPose

Pose2 karto::LocalizedRangeScan::m_BarycenterPose

protected

Average of all the point readings

Definition at line 5853 of file Karto.h.

◆ m_BoundingBox

BoundingBox2 karto::LocalizedRangeScan::m_BoundingBox

protected

Bounding box of localized range scan

Definition at line 5868 of file Karto.h.

◆ m_CorrectedPose

Pose2 karto::LocalizedRangeScan::m_CorrectedPose

private

Corrected pose of robot calculated by mapper (or localizer)

Definition at line 5847 of file Karto.h.

◆ m_IsDirty

kt_bool karto::LocalizedRangeScan::m_IsDirty

protected

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

Definition at line 5873 of file Karto.h.

◆ m_Lock

std::shared_mutex karto::LocalizedRangeScan::m_Lock

mutableprivate

Definition at line 5533 of file Karto.h.

◆ m_OdometricPose

Pose2 karto::LocalizedRangeScan::m_OdometricPose

private

Odometric pose of robot

Definition at line 5842 of file Karto.h.

◆ m_PointReadings

PointVectorDouble karto::LocalizedRangeScan::m_PointReadings

protected

Vector of point readings

Definition at line 5858 of file Karto.h.

◆ m_UnfilteredPointReadings

PointVectorDouble karto::LocalizedRangeScan::m_UnfilteredPointReadings

protected

Vector of unfiltered point readings

Definition at line 5863 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

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ LocalizedRangeScan() [1/3]

◆ LocalizedRangeScan() [2/3]

◆ ~LocalizedRangeScan()

◆ LocalizedRangeScan() [3/3]

Member Function Documentation

◆ GetBarycenterPose()

◆ GetBoundingBox()

◆ GetCorrectedAt()

◆ GetCorrectedPose()

◆ GetOdometricPose()

◆ GetPointReadings()

◆ GetReferencePose()

◆ GetSensorAt()

◆ GetSensorPose()

◆ operator=()

◆ serialize()

◆ SetBarycenterPose()

◆ SetBoundingBox()

◆ SetCorrectedPose()

◆ SetCorrectedPoseAndUpdate()

◆ SetIsDirty()

◆ SetOdometricPose()

◆ SetPointReadings()

◆ SetSensorPose()

◆ Update()

Friends And Related Function Documentation

◆ boost::serialization::access

Member Data Documentation

◆ m_BarycenterPose

◆ m_BoundingBox

◆ m_CorrectedPose

◆ m_IsDirty

◆ m_Lock

◆ m_OdometricPose

◆ m_PointReadings

◆ m_UnfilteredPointReadings