karto::MapperSensorManager Class Reference

#include <Mapper.h>

Public Member Functions
void	AddRunningScan (LocalizedRangeScan *pScan)
void	AddScan (LocalizedRangeScan *pScan)
void	Clear ()
void	ClearLastScan (LocalizedRangeScan *pScan)
void	ClearLastScan (const Name &name)
void	ClearRunningScans (const Name &rSensorName)
LocalizedRangeScanVector	GetAllScans ()
LocalizedRangeScan *	GetLastScan (const Name &rSensorName)
kt_int32u	GetRunningScanBufferSize (const Name &rSensorName)
LocalizedRangeScanVector &	GetRunningScans (const Name &rSensorName)
LocalizedRangeScan *	GetScan (const Name &rSensorName, kt_int32s scanIndex)
LocalizedRangeScan *	GetScan (kt_int32s id)
LocalizedRangeScanMap &	GetScans (const Name &rSensorName)
std::vector< Name >	GetSensorNames ()
	MapperSensorManager (kt_int32u runningBufferMaximumSize, kt_double runningBufferMaximumDistance)
	MapperSensorManager ()
void	RegisterSensor (const Name &rSensorName)
void	RemoveScan (LocalizedRangeScan *pScan)
void	SetLastScan (LocalizedRangeScan *pScan)
void	SetRunningScanBufferMaximumDistance (kt_double rScanBufferMaxDistance)
void	SetRunningScanBufferSize (kt_int32u rScanBufferSize)
virtual	~MapperSensorManager ()

Private Types
typedef std::map< Name, ScanManager * >	ScanManagerMap

Private Member Functions
ScanManager *	GetScanManager (LocalizedRangeScan *pScan)
ScanManager *	GetScanManager (const Name &rSensorName)
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

Private Attributes
kt_int32s	m_NextScanId
kt_double	m_RunningBufferMaximumDistance
kt_int32u	m_RunningBufferMaximumSize
ScanManagerMap	m_ScanManagers
std::map< int, LocalizedRangeScan * >	m_Scans

Friends
class	boost::serialization::access

Detailed Description

Manages the devices for the mapper

Definition at line 1538 of file Mapper.h.

Member Typedef Documentation

ScanManagerMap

typedef std::map<Name, ScanManager*> karto::MapperSensorManager::ScanManagerMap

private

Definition at line 1540 of file Mapper.h.

Constructor & Destructor Documentation

MapperSensorManager() [1/2]

karto::MapperSensorManager::MapperSensorManager ( kt_int32u  runningBufferMaximumSize, kt_double  runningBufferMaximumDistance  )

inline

Constructor

Definition at line 1546 of file Mapper.h.

MapperSensorManager() [2/2]

karto::MapperSensorManager::MapperSensorManager ( )

inline

Definition at line 1553 of file Mapper.h.

~MapperSensorManager()

virtual karto::MapperSensorManager::~MapperSensorManager ( )

inlinevirtual

Destructor

Definition at line 1559 of file Mapper.h.

Member Function Documentation

AddRunningScan()

void karto::MapperSensorManager::AddRunningScan ( LocalizedRangeScan *  pScan )

inline

Adds scan to running scans of device that recorded scan

Parameters

pScan

Definition at line 350 of file Mapper.cpp.

AddScan()

void karto::MapperSensorManager::AddScan

(

LocalizedRangeScan *

pScan

)

Adds scan to scan vector of device that recorded scan

Parameters

pScan

Definition at line 339 of file Mapper.cpp.

Clear()

void karto::MapperSensorManager::Clear

(

)

Deletes all scan managers of all devices

Definition at line 451 of file Mapper.cpp.

ClearLastScan() [1/2]

void karto::MapperSensorManager::ClearLastScan

(

LocalizedRangeScan *

pScan

)

Clears the laser scan of device

Parameters

pScan	Clears the last scan of device of given scan
pScan

Definition at line 321 of file Mapper.cpp.

ClearLastScan() [2/2]

void karto::MapperSensorManager::ClearLastScan

(

const Name &

name

)

Clears the laser scan of device name

Parameters

pScan	Clears the last scan of device name
pScan

Definition at line 330 of file Mapper.cpp.

ClearRunningScans()

void karto::MapperSensorManager::ClearRunningScans

(

const Name &

rSensorName

)

Clears running scans of device

Definition at line 395 of file Mapper.cpp.

GetAllScans()

LocalizedRangeScanVector karto::MapperSensorManager::GetAllScans

(

)

Gets all scans of all devices

Returns

all scans of all devices

Definition at line 430 of file Mapper.cpp.

GetLastScan()

LocalizedRangeScan * karto::MapperSensorManager::GetLastScan ( const Name &  rSensorName )

inline

Gets last scan of given sensor

Parameters

rSensorName

Returns

last localized range scan of sensor

Gets last scan of given device

Parameters

pLaserRangeFinder

Returns

last localized range scan of device

Definition at line 301 of file Mapper.cpp.

GetRunningScanBufferSize()

kt_int32u karto::MapperSensorManager::GetRunningScanBufferSize ( const Name &  rSensorName )

inline

Gets the running scan buffer of device

Definition at line 401 of file Mapper.cpp.

GetRunningScans()

LocalizedRangeScanVector & karto::MapperSensorManager::GetRunningScans ( const Name &  rSensorName )

inline

Gets running scans of device

Parameters

rSensorName

Returns

running scans of device

Definition at line 390 of file Mapper.cpp.

GetScan() [1/2]

LocalizedRangeScan * karto::MapperSensorManager::GetScan	(	const Name &	rSensorName,
		kt_int32s	scanIndex
	)

Gets scan from given sensor with given ID

Parameters

rSensorName
scanIndex

Returns

localized range scan

Gets scan from given device with given ID

Parameters

rSensorName
scanNum

Returns

localized range scan

Definition at line 276 of file Mapper.cpp.

GetScan() [2/2]

LocalizedRangeScan* karto::MapperSensorManager::GetScan ( kt_int32s  id )

inline

Gets the scan with the given unique id

Parameters

id

Returns

scan

Definition at line 1625 of file Mapper.h.

GetScanManager() [1/2]

ScanManager* karto::MapperSensorManager::GetScanManager ( LocalizedRangeScan *  pScan )

inlineprivate

Get scan manager for localized range scan

Returns

ScanManager

Definition at line 1710 of file Mapper.h.

GetScanManager() [2/2]

ScanManager* karto::MapperSensorManager::GetScanManager ( const Name &  rSensorName )

inlineprivate

Get scan manager for id

Parameters

rSensorName

Returns

ScanManager

Definition at line 1720 of file Mapper.h.

GetScans()

LocalizedRangeScanMap & karto::MapperSensorManager::GetScans ( const Name &  rSensorName )

inline

Gets scans of device

Parameters

rSensorName

Returns

scans of device

Definition at line 380 of file Mapper.cpp.

GetSensorNames()

std::vector<Name> karto::MapperSensorManager::GetSensorNames ( )

inline

Gets names of all sensors

Returns

sensor names

Definition at line 1584 of file Mapper.h.

RegisterSensor()

void karto::MapperSensorManager::RegisterSensor

(

const Name &

rSensorName

)

Registers a sensor (with given name); do nothing if device already registered

Parameters

rSensorName

Definition at line 261 of file Mapper.cpp.

RemoveScan()

void karto::MapperSensorManager::RemoveScan

(

LocalizedRangeScan *

pScan

)

Finds and replaces a scan from m_scans with NULL

Parameters

pScan	Finds and replaces a scan from m_Scans with NULL
pScan

Definition at line 359 of file Mapper.cpp.

serialize()

template<class Archive >

void karto::MapperSensorManager::serialize ( Archive &  ar, const unsigned int  version  )

inlineprivate

Definition at line 1732 of file Mapper.h.

SetLastScan()

void karto::MapperSensorManager::SetLastScan

(

LocalizedRangeScan *

pScan

)

Sets the last scan of device of given scan

Parameters

pScan

Definition at line 312 of file Mapper.cpp.

SetRunningScanBufferMaximumDistance()

void karto::MapperSensorManager::SetRunningScanBufferMaximumDistance

(

kt_double

rScanBufferMaxDistance

)

Sets the running scan buffer maximum distance for all devices

Parameters

rScanBufferMaxDistance

Definition at line 416 of file Mapper.cpp.

SetRunningScanBufferSize()

void karto::MapperSensorManager::SetRunningScanBufferSize

(

kt_int32u

rScanBufferSize

)

Sets the running scan buffer size for all devices

Parameters

rScanBufferSize

Definition at line 406 of file Mapper.cpp.

Friends And Related Function Documentation

boost::serialization::access

friend class boost::serialization::access

friend

Definition at line 1730 of file Mapper.h.

Member Data Documentation

m_NextScanId

kt_int32s karto::MapperSensorManager::m_NextScanId

private

Definition at line 1750 of file Mapper.h.

m_RunningBufferMaximumDistance

kt_double karto::MapperSensorManager::m_RunningBufferMaximumDistance

private

Definition at line 1748 of file Mapper.h.

m_RunningBufferMaximumSize

kt_int32u karto::MapperSensorManager::m_RunningBufferMaximumSize

private

Definition at line 1747 of file Mapper.h.

m_ScanManagers

ScanManagerMap karto::MapperSensorManager::m_ScanManagers

private

Definition at line 1745 of file Mapper.h.

m_Scans

std::map<int, LocalizedRangeScan*> karto::MapperSensorManager::m_Scans

private

Definition at line 1752 of file Mapper.h.

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

• Mapper.h
• Mapper.cpp