Public Member Functions | Private Member Functions | Private Attributes
karto::LocalizedObject Class Reference

#include <SensorData.h>

Inheritance diagram for karto::LocalizedObject:
Inheritance graph
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List of all members.

Public Member Functions

const Pose2GetCorrectedPose () const
gps::PointGps GetGpsEstimate () const
gps::PointGps GetGpsReading () const
const Pose2GetOdometricPose () const
kt_bool IsGpsEstimateValid () const
kt_bool IsGpsReadingValid () const
 LocalizedObject (const Identifier &rSensorIdentifier)
virtual void SetCorrectedPose (const Pose2 &rPose)
void SetGpsEstimate (const gps::PointGps &rGpsEstimate)
void SetGpsEstimationManager (AbstractGpsEstimationManager *pGpsEstimationManager)
void SetGpsReading (const gps::PointGps &rGpsReading)
void SetOdometricPose (const Pose2 &rOdometricPose)

Private Member Functions

 KARTO_RTTI ()

Private Attributes

Pose2 m_CorrectedPose
gps::PointGps m_GpsEstimate
gps::PointGps m_GpsReading
kt_bool m_IsGpsEstimateValid
kt_bool m_IsGpsReadingValid
Pose2 m_OdometricPose
AbstractGpsEstimationManagerm_pGpsEstimationManager

Detailed Description

Base class for all localized sensor data

Definition at line 356 of file SensorData.h.


Constructor & Destructor Documentation

karto::LocalizedObject::LocalizedObject ( const Identifier rSensorIdentifier)

Localized object from the given sensor

Parameters:
rSensorIdentifiersensor identifier

Definition at line 91 of file SensorData.cpp.


Member Function Documentation

Gets the (possibly corrected) robot pose at which this object was taken. The corrected robot pose of the object 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 402 of file SensorData.h.

Gets the GPS estimate of this scan (return value is meaningless if IsGpsEstimateValid() returns false).

Returns:
GPS estimate of this scan

Definition at line 450 of file SensorData.h.

Gets the GPS reading of this scan (return value is meaningless if IsGpsReadingValid() returns false).

Returns:
GPS reading of this scan

Definition at line 421 of file SensorData.h.

Gets the odometric pose of this object

Returns:
odometric pose of this object

Definition at line 380 of file SensorData.h.

Whether the GPS estimate is valid

Returns:
whether the GPS estimate is valid

Definition at line 483 of file SensorData.h.

Whether the GPS reading is valid

Returns:
whether the GPS reading is valid

Definition at line 440 of file SensorData.h.

virtual void karto::LocalizedObject::SetCorrectedPose ( const Pose2 rPose) [inline, virtual]

Moves the object by moving the robot pose to the given location.

Parameters:
rPosenew pose of the robot of this scan

Reimplemented in karto::LocalizedLaserScan.

Definition at line 411 of file SensorData.h.

void karto::LocalizedObject::SetGpsEstimate ( const gps::PointGps rGpsEstimate) [inline]

Sets the GPS estimate of this scan

Parameters:
rGpsEstimateGPS estimate of this scan

Definition at line 466 of file SensorData.h.

Sets the manager for estimating this scan's GPS coordinate

Parameters:
pGpsEstimationManagerGPS estimation manager

Definition at line 499 of file SensorData.h.

void karto::LocalizedObject::SetGpsReading ( const gps::PointGps rGpsReading) [inline]

Sets the GPS reading of this scan

Parameters:
rGpsReadingGPS reading of this scan

Definition at line 430 of file SensorData.h.

void karto::LocalizedObject::SetOdometricPose ( const Pose2 rOdometricPose) [inline]

Sets the odometric pose of this object

Parameters:
rOdometricPosenew odometric pose

Definition at line 389 of file SensorData.h.


Member Data Documentation

Corrected pose of object calculated by mapper (or some other module)

Definition at line 513 of file SensorData.h.

GPS estimate of this object (value is meaningless if m_IsGpsEstimateValid is false).

Definition at line 530 of file SensorData.h.

GPS reading of this object (value is meaningless if m_IsGpsReadingValid is false).

Definition at line 519 of file SensorData.h.

Whether the GPS estimate is valid

Definition at line 535 of file SensorData.h.

Whether the GPS reading is valid

Definition at line 524 of file SensorData.h.

Odometric pose of object

Definition at line 508 of file SensorData.h.

Manages the location of robot in GPS coordinates

Definition at line 540 of file SensorData.h.


The documentation for this class was generated from the following files:


nav2d_karto
Author(s): Sebastian Kasperski
autogenerated on Sun Apr 2 2017 04:05:24