base::samples::LaserScan Struct Reference

#include <LaserScan.hpp>

Public Types
typedef boost::uint32_t	uint32_t

Public Member Functions
	LaserScan ()
bool	isValidBeam (const unsigned int i) const
void	reset ()
bool	isRangeValid (uint32_t range) const
template<typename T >
void	convertScanToPointCloud (std::vector< T > &points, const Eigen::Affine3d &transform=Eigen::Affine3d::Identity(), bool skip_invalid_points=true) const
bool	getPointFromScanBeamXForward (const unsigned int i, Eigen::Vector3d &point) const
bool	getPointFromScanBeam (const unsigned int i, Eigen::Vector3d &point) const
std::vector< Eigen::Vector3d >	convertScanToPointCloud (const Eigen::Affine3d &transform) const BASE_TYPES_DEPRECATED

Public Attributes
Time	time
double	start_angle
double	angular_resolution
double	speed
std::vector< uint32_t >	ranges
uint32_t	minRange
uint32_t	maxRange
std::vector< float >	remission

Member Typedef Documentation

uint32_t

typedef boost::uint32_t base::samples::LaserScan::uint32_t

Constructor & Destructor Documentation

LaserScan()

base::samples::LaserScan::LaserScan ( )

inline

Member Function Documentation

convertScanToPointCloud() [1/2]

template<typename T >

void base::samples::LaserScan::convertScanToPointCloud ( std::vector< T > &  points, const Eigen::Affine3d &  transform = Eigen::Affine3d::Identity(), bool  skip_invalid_points = true  ) const

inline

converts the laser scan into a point cloud according to the given transformation matrix, the start_angle and the angular_resolution. If the transformation matrix is set to identity the laser scan is converted into the coordinate system of the sensor (x-axis = forward, y-axis = to the left, z-axis = upwards) If a scan point is outside of valid range all its coordinates are set to NaN. Unfortunately invalid scan points can not be skipped because this would invalidate the remission association

convertScanToPointCloud() [2/2]

std::vector< Eigen::Vector3d > base::samples::LaserScan::convertScanToPointCloud

(

const Eigen::Affine3d &

transform

)

const

Deprecated:

• returns the points in a wrong coordinate system

getPointFromScanBeam()

bool base::samples::LaserScan::getPointFromScanBeam	(	const unsigned int	i,
		Eigen::Vector3d &	point
	)		const

Deprecated:

• returns the points in a wrong coordinate system

getPointFromScanBeamXForward()

bool base::samples::LaserScan::getPointFromScanBeamXForward	(	const unsigned int	i,
		Eigen::Vector3d &	point
	)		const

Helper function that converts range 'i' to a point. The origin ot the point will be the laserScanner

isRangeValid()

bool base::samples::LaserScan::isRangeValid

(

LaserScan::uint32_t

range

)

const

isValidBeam()

bool base::samples::LaserScan::isValidBeam

(

const unsigned int

i

)

const

reset()

void base::samples::LaserScan::reset

(

)

Member Data Documentation

angular_resolution

double base::samples::LaserScan::angular_resolution

Angle difference between two scan point in radians;

maxRange

uint32_t base::samples::LaserScan::maxRange

maximal valid range returned by laserscanner

minRange

uint32_t base::samples::LaserScan::minRange

minimal valid range returned by laserscanner

ranges

std::vector<uint32_t> base::samples::LaserScan::ranges

The ranges themselves: the distance to obstacles in millimeters

remission

std::vector<float> base::samples::LaserScan::remission

The remission value from the laserscan. This value is not normalised and depends on various factors, like distance, angle of incidence and reflectivity of object.

speed

double base::samples::LaserScan::speed

The rotation speed of the laserbeam in radians/seconds

start_angle

double base::samples::LaserScan::start_angle

The angle at which the range readings start. Zero is at the front of the device and turns counter-clockwise. This value is in radians

time

Time base::samples::LaserScan::time

The timestamp of this reading. The timestamp is the time at which the laser passed the zero step (i.e. the step at the back of the device, which is distinct from the measurement 0)

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

• /home/dfki.uni-bremen.de/roehr/workspace/2maz/dev/base/types/src/samples/LaserScan.hpp
• /home/dfki.uni-bremen.de/roehr/workspace/2maz/dev/base/types/src/samples/LaserScan.cpp