00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2009, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of Willow Garage, Inc. nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: Eitan Marder-Eppstein 00036 *********************************************************************/ 00037 #ifndef LASER_SCAN_MAX_RANGE_FILTER_H_ 00038 #define LASER_SCAN_MAX_RANGE_FILTER_H_ 00039 00040 #include <filters/filter_base.h> 00041 #include <sensor_msgs/LaserScan.h> 00042 00043 namespace assisted_teleop 00044 { 00045 class LaserScanMaxRangeFilter : public filters::FilterBase<sensor_msgs::LaserScan> 00046 { 00047 public: 00048 virtual ~LaserScanMaxRangeFilter() {} 00049 00050 bool configure() 00051 { 00052 return true; 00053 } 00054 00055 bool update(const sensor_msgs::LaserScan& input_scan, sensor_msgs::LaserScan& filtered_scan) 00056 { 00057 filtered_scan = input_scan; 00058 00059 for(unsigned int i = 0; i < filtered_scan.ranges.size(); ++i) 00060 { 00061 //set to just below max range if its greater than max range 00062 if(filtered_scan.ranges[i] >= filtered_scan.range_max || filtered_scan.ranges[i] <= filtered_scan.range_min) 00063 filtered_scan.ranges[i] = filtered_scan.range_max - 1e-4; 00064 } 00065 00066 return true; 00067 } 00068 }; 00069 }; 00070 #endif