observers::NearestForward Class Reference

Nearest forward observer class. More...

Inheritance diagram for observers::NearestForward:

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

Detailed Description

Nearest forward observer class.

Definition at line 27 of file nearest_forward.h.

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

Definition at line 24 of file nearest_forward.cc.

observers::NearestForward::~NearestForward ( )

Definition at line 33 of file nearest_forward.cc.

art_msgs::Observation observers::NearestForward::update	(	const art_msgs::ArtLanes &	local_map,
		const art_msgs::ArtLanes &	obstacles,
		const 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