Fawkes API  Fawkes Development Version
LaserProjectionDataFilter Class Reference

Projects one laser into another laser's plane. More...

#include "filters/projection.h"

Inheritance diagram for LaserProjectionDataFilter:

List of all members.

Public Member Functions

 LaserProjectionDataFilter (fawkes::tf::TransformListener *tf_listener, std::string target_frame, float not_from_x, float not_to_x, float not_from_y, float not_to_y, float only_from_z, float only_to_z, unsigned int in_data_size, std::vector< LaserDataFilter::Buffer * > &in)
 Constructor.
void filter ()
 Filter the incoming data.

Detailed Description

Projects one laser into another laser's plane.

This first transforms the laser value into the target frame, and then projects it into the X-Y plane (which is assumed to be the laser plane of another (virtual) laser. Additionally some sanity filtering in all three axes is applied after the transformation, but before the projection.

Author:
Tim Niemueller, Christoph Schwering

Constructor & Destructor Documentation

LaserProjectionDataFilter::LaserProjectionDataFilter ( fawkes::tf::TransformListener tf_listener,
std::string  target_frame,
float  not_from_x,
float  not_to_x,
float  not_from_y,
float  not_to_y,
float  only_from_z,
float  only_to_z,
unsigned int  in_data_size,
std::vector< LaserDataFilter::Buffer * > &  in 
)

Constructor.

Parameters:
tf_listenertransform listener to get transform from
target_frametarget coordinate fram to project into
not_from_xlower X boundary of ignored rectangle
not_to_xupper X boundary of ignored rectangle
not_from_ylower Y boundary of ignored rectangle
not_to_yupper Y boundary of ignored rectangle
only_from_zminimum Z value for accepted points
only_to_zmaximum Z value for accepted points
in_data_sizenumber of entries input value arrays
invector of input arrays

Definition at line 58 of file projection.cpp.

References fawkes::deg2rad(), and LaserDataFilter::out_data_size.


Member Function Documentation

void LaserProjectionDataFilter::filter ( ) [virtual]

Filter the incoming data.

Function shall filter the data in the "in" member vector and write output to the "out" member vector.

Implements LaserDataFilter.

Definition at line 124 of file projection.cpp.

References LaserDataFilter::in, LaserDataFilter::out, LaserDataFilter::out_data_size, fawkes::tf::Transformer::lookup_transform(), LaserDataFilter::in_data_size, and fawkes::deg2rad().


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