laser_data_drawing.h File Reference

#include "laser_data.h"

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Classes
struct	oriented_bbox
struct	stroke_sequence
Typedefs
typedef oriented_bbox *	BB2
typedef struct bbfind_imp	bbfind
Enumerations
enum	ld_reference { Invalid = 0, Odometry = 1, Estimate = 2, True_pose = 3 }
Functions
int	bbfind_add_bbox (bbfind *, const BB2)
int	bbfind_add_point (bbfind *, double point[2])
int	bbfind_add_point2 (bbfind *, double x, double y)
int	bbfind_compute (bbfind *, BB2)
void	bbfind_free (bbfind *)
bbfind *	bbfind_new ()
void	compute_stroke_sequence (LDP ld, struct stroke_sequence *, double horizon, double connect_threshold)
int	ld_get_bounding_box (LDP ld, double bb_min[2], double bb_max[2], double pose[3], double horizon)
void	ld_get_oriented_bbox (LDP ld, double horizon, BB2)
double *	ld_get_reference_pose (LDP ld, ld_reference use_reference)
double *	ld_get_reference_pose_silent (LDP ld, ld_reference use_reference)
int	ld_read_some_scans_distance (FILE *file, LDP **array, int *num, ld_reference which, double d_xy, double d_th)
const char *	ld_reference_to_string (ld_reference)
ld_reference	ld_string_to_reference (const char *string)
void	lda_get_bounding_box (LDP *ld, int nld, double bb_min[2], double bb_max[2], double offset[3], ld_reference use_reference, double horizon)
void	oriented_bbox_compute_corners (const BB2, double ul[2], double ur[2], double ll[2], double lr[2])

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Typedef Documentation

typedef oriented_bbox* BB2

Definition at line 30 of file laser_data_drawing.h.

typedef struct bbfind_imp bbfind

Definition at line 50 of file laser_data_drawing.h.

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Enumeration Type Documentation

enum ld_reference

Enumerator:

Invalid
Odometry
Estimate
True_pose

Definition at line 6 of file laser_data_drawing.h.

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Function Documentation

int bbfind_add_bbox	(	bbfind *	,
		const	BB2
	)

int bbfind_add_point	(	bbfind *	,
		double	point[2]
	)

int bbfind_add_point2	(	bbfind *	,
		double	x,
		double	y
	)

int bbfind_compute	(	bbfind *	,
		BB2
	)

void bbfind_free

(

bbfind *

)

bbfind* bbfind_new

(

)

void compute_stroke_sequence	(	LDP	ld,
		struct stroke_sequence *	,
		double	horizon,
		double	connect_threshold
	)

int ld_get_bounding_box	(	LDP	ld,
		double	bb_min[2],
		double	bb_max[2],
		double	pose[3],
		double	horizon
	)

Returns != 0 if enough points were found

void ld_get_oriented_bbox	(	LDP	ld,
		double	horizon,
		BB2
	)

double* ld_get_reference_pose	(	LDP	ld,
		ld_reference	use_reference
	)

Same as ld_get_reference_pose_silent(), but it also checks that the pose is valid (no NANs inside).

double* ld_get_reference_pose_silent	(	LDP	ld,
		ld_reference	use_reference
	)

Gets a pointer to the pose specified by 'use_reference', or 0 if use_reference is invalid.

int ld_read_some_scans_distance	(	FILE *	file,
		LDP **	array,
		int *	num,
		ld_reference	which,
		double	d_xy,
		double	d_th
	)

const char* ld_reference_to_string

(

ld_reference

)

ld_reference ld_string_to_reference

(

const char *

string

)

void lda_get_bounding_box	(	LDP *	ld,
		int	nld,
		double	bb_min[2],
		double	bb_max[2],
		double	offset[3],
		ld_reference	use_reference,
		double	horizon
	)

void oriented_bbox_compute_corners	(	const	BB2,
		double	ul[2],
		double	ur[2],
		double	ll[2],
		double	lr[2]
	)