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9 #ifndef CObservation2DRangeScan_H
10 #define CObservation2DRangeScan_H
81 void internal_buildAuxPointsMap(
const void *options = NULL )
const;
92 template <
class POINTSMAP>
94 return static_cast<const POINTSMAP*>(m_cachedMap.pointer());
105 template <
class POINTSMAP>
107 if (!m_cachedMap.present()) internal_buildAuxPointsMap(options);
108 return static_cast<const POINTSMAP*>(m_cachedMap.pointer());
117 bool isPlanarScan(
const double tolerance = 0)
const;
122 void getDescriptionAsText(std::ostream &o)
const MRPT_OVERRIDE;
127 void truncateByDistanceAndAngle(
float min_distance,
float max_angle,
float min_height = 0,
float max_height = 0,
float h = 0 );
132 void filterByExclusionAreas(
const TListExclusionAreas &areas );
137 void filterByExclusionAreas(
const TListExclusionAreasWithRanges &areas );
142 void filterByExclusionAngles(
const std::vector<std::pair<double,double> > &angles );
float maxRange
The maximum range allowed by the device, in meters (e.g. 80m, 50m,...)
bool rightToLeft
The scanning direction: true=counterclockwise; false=clockwise.
std::vector< mrpt::math::CPolygon > TListExclusionAreas
Used in filterByExclusionAreas.
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
void setSensorPose(const mrpt::poses::CPose3D &newSensorPose) MRPT_OVERRIDE
A general method to change the sensor pose on the robot.
Auxiliary struct that holds all the relevant geometry information about a 2D scan.
const POINTSMAP * buildAuxPointsMap(const void *options=NULL) const
Returns a cached points map representing this laser scan, building it upon the first call.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
double deltaPitch
If the laser gathers data by sweeping in the pitch/elevation angle, this holds the increment in "pitc...
This namespace contains representation of robot actions and observations.
float aperture
The "aperture" or field-of-view of the range finder, in radians (typically M_PI = 180 degrees).
std::vector< char > validRange
It's false (=0) on no reflected rays, referenced to elements in scan.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
#define MRPT_DECLARE_TTYPENAME_PTR_NAMESPACE(_TYPE, __NS)
void getSensorPose(mrpt::poses::CPose3D &out_sensorPose) const MRPT_OVERRIDE
A general method to retrieve the sensor pose on the robot.
const POINTSMAP * getAuxPointsMap() const
Returns the cached points map representation of the scan, if already build with buildAuxPointsMap(),...
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
float beamAperture
The aperture of each beam, in radians, used to insert "thick" rays in the occupancy grid.
std::vector< std::pair< mrpt::math::CPolygon, std::pair< double, double > > > TListExclusionAreasWithRanges
Used in filterByExclusionAreas.
float stdError
The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid.
#define DECLARE_MEXPLUS_FROM(complete_type)
This must be inserted if a custom conversion method for MEX API is implemented in the class.
mrpt::maps::CMetricMapPtr m_cachedMap
A points map, build only under demand by the methods getAuxPointsMap() and buildAuxPointsMap().
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
Declares a class that represents any robot's observation.
mrpt::poses::CPose3D sensorPose
The 6D pose of the sensor on the robot at the moment of starting the scan.
std::vector< float > scan
The range values of the scan, in meters. Must have same length than validRange.
#define DECLARE_MEX_CONVERSION
This must be inserted if a custom conversion method for MEX API is implemented in the class.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
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