observers::NearestBackward Class Reference

Nearest backward observer class. More...

Inheritance diagram for observers::NearestBackward:

Public Member Functions
	NearestBackward (art_observers::ObserversConfig &config)
virtual art_msgs::Observation	update (const art_msgs::ArtLanes &local_map, const art_msgs::ArtLanes &obstacles, MapPose pose_)
	~NearestBackward ()
Private Attributes
std::vector< float >	distance_
MedianFilter	distance_filter_
ros::Time	prev_update_
MeanFilter	velocity_filter_

Detailed Description

Nearest backward observer class.

Definition at line 27 of file nearest_backward.h.

observers::NearestBackward::NearestBackward ( art_observers::ObserversConfig & config )

Definition at line 23 of file nearest_backward.cc.

observers::NearestBackward::~NearestBackward ( )

Definition at line 32 of file nearest_backward.cc.

art_msgs::Observation observers::NearestBackward::update	(	const art_msgs::ArtLanes &	local_map,
		const art_msgs::ArtLanes &	obstacles,
		MapPose	pose
	)			`[virtual]`

Generic observer update function.

Called whenever there are new obstacle data, assuming the local_map is also available.

Parameters:

	robot_quad	quadrilateral containing the robot
	local_map	road map lanes within range of the robot
	obstacles	local map quads currently containing obstacles
	pose	current pose of robot