Public Types | Public Member Functions | Private Attributes | List of all members
psen_scan_v2_standalone::LaserScan Class Reference

This class represents a single laser scan in the <tf_prefix> target frame. More...

#include <laserscan.h>

Public Types

using IntensityData = std::vector< double >
 
using IOData = std::vector< IOState >
 
using MeasurementData = std::vector< double >
 

Public Member Functions

uint8_t activeZoneset () const
 
uint8_t getActiveZoneset () const
 
const IntensityDatagetIntensities () const
 
const IODatagetIOStates () const
 
const util::TenthOfDegreegetMaxScanAngle () const
 
MeasurementDatagetMeasurements ()
 
const MeasurementDatagetMeasurements () const
 
const util::TenthOfDegreegetMinScanAngle () const
 
uint32_t getScanCounter () const
 
const util::TenthOfDegreegetScanResolution () const
 
int64_t getTimestamp () const
 
const IntensityDataintensities () const
 
void intensities (const IntensityData &intensities)
 
const IODataioStates () const
 
void ioStates (const IOData &io_states)
 
 LaserScan (const util::TenthOfDegree &resolution, const util::TenthOfDegree &min_scan_angle, const util::TenthOfDegree &max_scan_angle, const uint32_t scan_counter, const uint8_t active_zoneset, const int64_t timestamp, const configuration::ScannerId scanner_id)
 
const util::TenthOfDegreemaxScanAngle () const
 
MeasurementDatameasurements ()
 
const MeasurementDatameasurements () const
 
void measurements (const MeasurementData &measurements)
 
const util::TenthOfDegreeminScanAngle () const
 
uint32_t scanCounter () const
 
configuration::ScannerId scannerId () const
 
const util::TenthOfDegreescanResolution () const
 
void setIntensities (const IntensityData &intensities)
 
void setIOStates (const IOData &io_states)
 
void setMeasurements (const MeasurementData &measurements)
 
int64_t timestamp () const
 

Private Attributes

const uint8_t active_zoneset_
 The currently active zoneset of the scanner. More...
 
IntensityData intensities_
 Stores the received normalized signal intensities. More...
 
IOData io_states_
 States of the I/O pins. More...
 
const util::TenthOfDegree max_scan_angle_
 Highest angle the scanner is scanning. More...
 
MeasurementData measurements_
 Measurement data of the laserscan (in Millimeters). More...
 
const util::TenthOfDegree min_scan_angle_
 Lowest angle the scanner is scanning. More...
 
const util::TenthOfDegree resolution_
 Distance of angle between the measurements. More...
 
const uint32_t scan_counter_
 Number of the scan round this data belongs to. More...
 
configuration::ScannerId scanner_id_
 distinction between master and subscribers More...
 
const int64_t timestamp_
 Time of the first ray in this scan round (or fragment if fragmented_scans is enabled). More...
 

Detailed Description

This class represents a single laser scan in the <tf_prefix> target frame.

All relevant information about a single scan of a psen_scan scanner are stored in this class. This includes the following information:

The measures use the target frame defined as <tf_prefix>.

See also
https://github.com/PilzDE/psen_scan_v2_standalone/blob/main/README.md#tf-frames

Definition at line 47 of file laserscan.h.

Member Typedef Documentation

◆ IntensityData

Definition at line 51 of file laserscan.h.

◆ IOData

Definition at line 52 of file laserscan.h.

◆ MeasurementData

Definition at line 50 of file laserscan.h.

Constructor & Destructor Documentation

◆ LaserScan()

psen_scan_v2_standalone::LaserScan::LaserScan ( const util::TenthOfDegree resolution,
const util::TenthOfDegree min_scan_angle,
const util::TenthOfDegree max_scan_angle,
const uint32_t  scan_counter,
const uint8_t  active_zoneset,
const int64_t  timestamp,
const configuration::ScannerId  scanner_id 
)

Definition at line 33 of file laserscan.cpp.

Member Function Documentation

◆ activeZoneset()

uint8_t psen_scan_v2_standalone::LaserScan::activeZoneset ( ) const

Definition at line 151 of file laserscan.cpp.

◆ getActiveZoneset()

uint8_t psen_scan_v2_standalone::LaserScan::getActiveZoneset ( ) const

deprecated: use uint8_t activeZoneset() const instead

Definition at line 100 of file laserscan.cpp.

◆ getIntensities()

const LaserScan::IntensityData & psen_scan_v2_standalone::LaserScan::getIntensities ( ) const

deprecated: use const IntensityData& intensities() instead

Definition at line 115 of file laserscan.cpp.

◆ getIOStates()

const LaserScan::IOData & psen_scan_v2_standalone::LaserScan::getIOStates ( ) const

deprecated: use const IOData& ioStates() const instead

Definition at line 187 of file laserscan.cpp.

◆ getMaxScanAngle()

const util::TenthOfDegree & psen_scan_v2_standalone::LaserScan::getMaxScanAngle ( ) const

deprecated: use const util::TenthOfDegree& maxScanAngle() const instead

Definition at line 80 of file laserscan.cpp.

◆ getMeasurements() [1/2]

MeasurementData& psen_scan_v2_standalone::LaserScan::getMeasurements ( )

deprecated: use MeasurementData& measurements() instead

◆ getMeasurements() [2/2]

LaserScan::MeasurementData & psen_scan_v2_standalone::LaserScan::getMeasurements ( ) const

deprecated: use const MeasurementData& measurements() instead

Definition at line 85 of file laserscan.cpp.

◆ getMinScanAngle()

const util::TenthOfDegree & psen_scan_v2_standalone::LaserScan::getMinScanAngle ( ) const

deprecated: use const util::TenthOfDegree& minScanAngle() const instead

Definition at line 75 of file laserscan.cpp.

◆ getScanCounter()

uint32_t psen_scan_v2_standalone::LaserScan::getScanCounter ( ) const

deprecated: use uint32_t scanCounter() const instead

Definition at line 90 of file laserscan.cpp.

◆ getScanResolution()

const util::TenthOfDegree & psen_scan_v2_standalone::LaserScan::getScanResolution ( ) const

deprecated: use const util::TenthOfDegree& scanResolution() const instead

Definition at line 70 of file laserscan.cpp.

◆ getTimestamp()

int64_t psen_scan_v2_standalone::LaserScan::getTimestamp ( ) const

deprecated: use int64_t timestamp() const instead

Definition at line 95 of file laserscan.cpp.

◆ intensities() [1/2]

const LaserScan::IntensityData & psen_scan_v2_standalone::LaserScan::intensities ( ) const

Definition at line 171 of file laserscan.cpp.

◆ intensities() [2/2]

void psen_scan_v2_standalone::LaserScan::intensities ( const IntensityData intensities)

Definition at line 176 of file laserscan.cpp.

◆ ioStates() [1/2]

const LaserScan::IOData & psen_scan_v2_standalone::LaserScan::ioStates ( ) const

Definition at line 198 of file laserscan.cpp.

◆ ioStates() [2/2]

void psen_scan_v2_standalone::LaserScan::ioStates ( const IOData io_states)

Definition at line 193 of file laserscan.cpp.

◆ maxScanAngle()

const util::TenthOfDegree & psen_scan_v2_standalone::LaserScan::maxScanAngle ( ) const

Definition at line 131 of file laserscan.cpp.

◆ measurements() [1/3]

MeasurementData& psen_scan_v2_standalone::LaserScan::measurements ( )

◆ measurements() [2/3]

LaserScan::MeasurementData & psen_scan_v2_standalone::LaserScan::measurements ( ) const

Definition at line 141 of file laserscan.cpp.

◆ measurements() [3/3]

void psen_scan_v2_standalone::LaserScan::measurements ( const MeasurementData measurements)

Definition at line 161 of file laserscan.cpp.

◆ minScanAngle()

const util::TenthOfDegree & psen_scan_v2_standalone::LaserScan::minScanAngle ( ) const

Definition at line 126 of file laserscan.cpp.

◆ scanCounter()

uint32_t psen_scan_v2_standalone::LaserScan::scanCounter ( ) const

Definition at line 146 of file laserscan.cpp.

◆ scannerId()

configuration::ScannerId psen_scan_v2_standalone::LaserScan::scannerId ( ) const

Definition at line 136 of file laserscan.cpp.

◆ scanResolution()

const util::TenthOfDegree & psen_scan_v2_standalone::LaserScan::scanResolution ( ) const

Definition at line 64 of file laserscan.cpp.

◆ setIntensities()

void psen_scan_v2_standalone::LaserScan::setIntensities ( const IntensityData intensities)

deprecated: use void intensities(const IntensityData& intensities) instead

Definition at line 120 of file laserscan.cpp.

◆ setIOStates()

void psen_scan_v2_standalone::LaserScan::setIOStates ( const IOData io_states)

deprecated: use void ioStates(const IOData& io_states) instead

Definition at line 182 of file laserscan.cpp.

◆ setMeasurements()

void psen_scan_v2_standalone::LaserScan::setMeasurements ( const MeasurementData measurements)

deprecated: use void measurements(const MeasurementData& measurements) instead

Definition at line 105 of file laserscan.cpp.

◆ timestamp()

int64_t psen_scan_v2_standalone::LaserScan::timestamp ( ) const

Definition at line 156 of file laserscan.cpp.

Member Data Documentation

◆ active_zoneset_

const uint8_t psen_scan_v2_standalone::LaserScan::active_zoneset_
private

The currently active zoneset of the scanner.

Definition at line 140 of file laserscan.h.

◆ intensities_

IntensityData psen_scan_v2_standalone::LaserScan::intensities_
private

Stores the received normalized signal intensities.

Definition at line 128 of file laserscan.h.

◆ io_states_

IOData psen_scan_v2_standalone::LaserScan::io_states_
private

States of the I/O pins.

Definition at line 130 of file laserscan.h.

◆ max_scan_angle_

const util::TenthOfDegree psen_scan_v2_standalone::LaserScan::max_scan_angle_
private

Highest angle the scanner is scanning.

Definition at line 136 of file laserscan.h.

◆ measurements_

MeasurementData psen_scan_v2_standalone::LaserScan::measurements_
private

Measurement data of the laserscan (in Millimeters).

Definition at line 126 of file laserscan.h.

◆ min_scan_angle_

const util::TenthOfDegree psen_scan_v2_standalone::LaserScan::min_scan_angle_
private

Lowest angle the scanner is scanning.

Definition at line 134 of file laserscan.h.

◆ resolution_

const util::TenthOfDegree psen_scan_v2_standalone::LaserScan::resolution_
private

Distance of angle between the measurements.

Definition at line 132 of file laserscan.h.

◆ scan_counter_

const uint32_t psen_scan_v2_standalone::LaserScan::scan_counter_
private

Number of the scan round this data belongs to.

Definition at line 138 of file laserscan.h.

◆ scanner_id_

configuration::ScannerId psen_scan_v2_standalone::LaserScan::scanner_id_
private

distinction between master and subscribers

Definition at line 144 of file laserscan.h.

◆ timestamp_

const int64_t psen_scan_v2_standalone::LaserScan::timestamp_
private

Time of the first ray in this scan round (or fragment if fragmented_scans is enabled).

Definition at line 142 of file laserscan.h.


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


psen_scan_v2
Author(s): Pilz GmbH + Co. KG
autogenerated on Sat Jun 22 2024 02:46:12