#include <mrpt/slam/CObservation2DRangeScan.h>
Classes | |
class | CAuxMapWrapper |
Public Member Functions | |
CObservation2DRangeScan () | |
Default constructor. | |
~CObservation2DRangeScan () | |
Destructor. | |
const CPointsMap * | getAuxPointsMap () const |
Auxiliary members used to speed up some algorithms: it will be NULL normally. | |
const CPointsMap * | buildAuxPointsMap (CPointsMap::TInsertionOptions *options=NULL) const |
Returns an auxiliary points map built from the scan; it is actually build at the first call to this method, and only once. | |
bool | isPlanarScan (const double &tolerance=0) const |
Return true if the laser scanner has an absolute value of "pitch" and "roll" less or equal to the given tolerance (in rads, default=0) (with the normal vector either upwards or downwards). | |
float | likelihoodWith (const CObservation *anotherObs, const CPosePDF *anotherObsPose=NULL) const |
Implements the virtual method in charge of finding the likelihood between this and another observation, probably only of the same derived class. | |
void | getSensorPose (CPose3D &out_sensorPose) const |
A general method to retrieve the sensor pose on the robot. | |
void | setSensorPose (const CPose3D &newSensorPose) |
A general method to change the sensor pose on the robot. | |
void | truncateByDistanceAndAngle (float min_distance, float max_angle, float min_height=0, float max_height=0, float h=0) |
A general method to truncate the scan by defining a minimum valid distance and a maximum valid angle as well as minimun and maximum heights (NOTE: the laser z-coordinate must be provided). | |
void | filterByExclusionAreas (const std::vector< mrpt::math::CPolygon > &areas) |
Mark as invalid sensed points that fall within any of a set of "exclusion areas", given in coordinates relative to the vehicle (taking into account "sensorPose"). | |
void | filterByExclusionAngles (const std::vector< std::pair< double, double > > &angles) |
Mark as invalid the ranges in any of a given set of "forbiden angle ranges", given as pairs<min_angle,max_angle>. | |
Public Attributes | |
vector_float | scan |
The range values of the scan, in meters. | |
std::vector< char > | validRange |
It's false (=0) on no reflected rays, referenced to elements in "scan" (Added in the streamming version #1 of the class). | |
float | aperture |
The aperture of the range finder, in radians (typically M_PI = 180 degrees). | |
bool | rightToLeft |
The scanning direction. | |
float | maxRange |
The maximum range allowed by the device, in meters (e.g. | |
CPose3D | sensorPose |
The 6D pose of the sensor on the robot. | |
float | stdError |
The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid. | |
float | beamAperture |
The aperture of each beam, in radians, used to insert "thick" rays in the occupancy grid. | |
double | deltaPitch |
If the laser gathers data by sweeping in the pitch/elevation angle, this holds the increment in "pitch" (=-"elevation") between the beginning and the end of the scan (the sensorPose member stands for the pose at the beginning of the scan). | |
Protected Attributes | |
CAuxMapWrapper | m_auxMap |
This is prepared for accepting 180deg,360deg or any other aperture scan, as well as resolutions of 0.5deg,0.25deg or any other.
Definition at line 54 of file CObservation2DRangeScan.h.
mrpt::slam::CObservation2DRangeScan::CObservation2DRangeScan | ( | ) |
Default constructor.
mrpt::slam::CObservation2DRangeScan::~CObservation2DRangeScan | ( | ) |
Destructor.
const CPointsMap* mrpt::slam::CObservation2DRangeScan::buildAuxPointsMap | ( | CPointsMap::TInsertionOptions * | options = NULL |
) | const |
Returns an auxiliary points map built from the scan; it is actually build at the first call to this method, and only once.
options | Can be NULL to use default point maps' insertion options, or a valid pointer to override some params. |
void mrpt::slam::CObservation2DRangeScan::filterByExclusionAngles | ( | const std::vector< std::pair< double, double > > & | angles | ) |
Mark as invalid the ranges in any of a given set of "forbiden angle ranges", given as pairs<min_angle,max_angle>.
void mrpt::slam::CObservation2DRangeScan::filterByExclusionAreas | ( | const std::vector< mrpt::math::CPolygon > & | areas | ) |
Mark as invalid sensed points that fall within any of a set of "exclusion areas", given in coordinates relative to the vehicle (taking into account "sensorPose").
const CPointsMap* mrpt::slam::CObservation2DRangeScan::getAuxPointsMap | ( | ) | const [inline] |
Auxiliary members used to speed up some algorithms: it will be NULL normally.
Definition at line 132 of file CObservation2DRangeScan.h.
References mrpt::slam::CObservation2DRangeScan::CAuxMapWrapper::get().
void mrpt::slam::CObservation2DRangeScan::getSensorPose | ( | CPose3D & | out_sensorPose | ) | const [inline, virtual] |
A general method to retrieve the sensor pose on the robot.
Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.
Implements mrpt::slam::CObservation.
Definition at line 160 of file CObservation2DRangeScan.h.
bool mrpt::slam::CObservation2DRangeScan::isPlanarScan | ( | const double & | tolerance = 0 |
) | const |
Return true if the laser scanner has an absolute value of "pitch" and "roll" less or equal to the given tolerance (in rads, default=0) (with the normal vector either upwards or downwards).
float mrpt::slam::CObservation2DRangeScan::likelihoodWith | ( | const CObservation * | anotherObs, | |
const CPosePDF * | anotherObsPose = NULL | |||
) | const [virtual] |
Implements the virtual method in charge of finding the likelihood between this and another observation, probably only of the same derived class.
The operator may be asymmetric.
anotherObs | The other observation to compute likelihood with. | |
anotherObsPose | If known, the belief about the robot pose when the other observation was taken can be supplied here, or NULL if it is unknown. |
std::exception | On any error, as another observation being of an invalid class. |
Implements mrpt::slam::CObservation.
void mrpt::slam::CObservation2DRangeScan::setSensorPose | ( | const CPose3D & | newSensorPose | ) | [inline, virtual] |
A general method to change the sensor pose on the robot.
Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.
Implements mrpt::slam::CObservation.
Definition at line 167 of file CObservation2DRangeScan.h.
void mrpt::slam::CObservation2DRangeScan::truncateByDistanceAndAngle | ( | float | min_distance, | |
float | max_angle, | |||
float | min_height = 0 , |
|||
float | max_height = 0 , |
|||
float | h = 0 | |||
) |
A general method to truncate the scan by defining a minimum valid distance and a maximum valid angle as well as minimun and maximum heights (NOTE: the laser z-coordinate must be provided).
The aperture of the range finder, in radians (typically M_PI = 180 degrees).
Definition at line 102 of file CObservation2DRangeScan.h.
Referenced by mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().
The aperture of each beam, in radians, used to insert "thick" rays in the occupancy grid.
(Added in the streamming version #4 of the class)
Definition at line 123 of file CObservation2DRangeScan.h.
If the laser gathers data by sweeping in the pitch/elevation angle, this holds the increment in "pitch" (=-"elevation") between the beginning and the end of the scan (the sensorPose member stands for the pose at the beginning of the scan).
Definition at line 127 of file CObservation2DRangeScan.h.
Referenced by mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().
CAuxMapWrapper mrpt::slam::CObservation2DRangeScan::m_auxMap [mutable, protected] |
Definition at line 80 of file CObservation2DRangeScan.h.
The maximum range allowed by the device, in meters (e.g.
80m, 50m,...)
Definition at line 110 of file CObservation2DRangeScan.h.
Referenced by mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().
The scanning direction.
Definition at line 106 of file CObservation2DRangeScan.h.
Referenced by mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().
The range values of the scan, in meters.
Definition at line 93 of file CObservation2DRangeScan.h.
Referenced by mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().
The 6D pose of the sensor on the robot.
Definition at line 114 of file CObservation2DRangeScan.h.
Referenced by mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().
The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid.
Definition at line 118 of file CObservation2DRangeScan.h.
std::vector<char> mrpt::slam::CObservation2DRangeScan::validRange |
It's false (=0) on no reflected rays, referenced to elements in "scan" (Added in the streamming version #1 of the class).
Definition at line 98 of file CObservation2DRangeScan.h.
Referenced by mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().
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