#include <SonarScan.hpp>

Public Member Functions
	SonarScan ()

	SonarScan (uint16_t number_of_beams, uint16_t number_of_bins, Angle start_bearing, Angle angular_resolution, bool memory_layout_column=true)

	SonarScan (const SonarScan &other, bool bcopy=true)

SonarScan &	operator= (const SonarScan &other)

void	init (const SonarScan &other, bool bcopy=true)

void	init (uint16_t number_of_beams, uint16_t number_of_bins, Angle start_bearing, Angle angular_resolution, bool memory_layout_column=true, int val=-1)

void	reset (int const val=0)

int	beamIndexForBearing (const Angle bearing, bool range_check=true) const

bool	hasSonarBeam (const base::samples::SonarBeam &sonar_beam) const

bool	hasSonarBeam (const Angle bearing) const

void	addSonarBeam (const base::samples::SonarBeam &sonar_beam, bool resize=true)

void	getSonarBeam (const Angle bearing, SonarBeam &sonar_beam) const

void	toggleMemoryLayout ()

void	swap (SonarScan &sonar_scan)

uint32_t	getNumberOfBytes () const

uint32_t	getBinCount () const

const std::vector< uint8_t > &	getData () const

Angle	getEndBearing () const

Angle	getStartBearing () const

Angle	getAngularResolution () const

double	getSpatialResolution () const

void	setData (const std::vector< uint8_t > &data)

void	setData (const char *data, uint32_t size)

uint8_t *	getDataPtr ()

const uint8_t *	getDataConstPtr () const

Public Attributes
base::Time	time

std::vector< uint8_t >	data

std::vector< base::Time >	time_beams

uint16_t	number_of_beams

uint16_t	number_of_bins

Angle	start_bearing

Angle	angular_resolution

double	sampling_interval

float	speed_of_sound

Angle	beamwidth_horizontal

Angle	beamwidth_vertical

bool	memory_layout_column

bool	polar_coordinates

Constructor & Destructor Documentation

◆ SonarScan() [1/3]

base::samples::SonarScan::SonarScan ( )

Initialize the sonar scan

◆ SonarScan() [2/3]

base::samples::SonarScan::SonarScan	(	uint16_t	number_of_beams,
		uint16_t	number_of_bins,
		Angle	start_bearing,
		Angle	angular_resolution,
		bool	memory_layout_column = `true`
	)

◆ SonarScan() [3/3]

base::samples::SonarScan::SonarScan	(	const SonarScan &	other,
		bool	bcopy = `true`
	)

Member Function Documentation

◆ addSonarBeam()

void base::samples::SonarScan::addSonarBeam	(	const base::samples::SonarBeam &	sonar_beam,
		bool	resize = `true`
	)

◆ beamIndexForBearing()

int base::samples::SonarScan::beamIndexForBearing	(	const Angle	bearing,
		bool	range_check = `true`
	)		const

◆ getAngularResolution()

Angle base::samples::SonarScan::getAngularResolution ( ) const

◆ getBinCount()

uint32_t base::samples::SonarScan::getBinCount ( ) const

Returns the total count of bins in this sonar scan

Returns: Returns the overall number of bins (number_of_beams * number_of_bins)

◆ getData()

const std::vector< uint8_t > & base::samples::SonarScan::getData ( ) const

◆ getDataConstPtr()

const uint8_t * base::samples::SonarScan::getDataConstPtr ( ) const

◆ getDataPtr()

uint8_t * base::samples::SonarScan::getDataPtr ( )

◆ getEndBearing()

Angle base::samples::SonarScan::getEndBearing ( ) const

◆ getNumberOfBytes()

uint32_t base::samples::SonarScan::getNumberOfBytes ( ) const

◆ getSonarBeam()

void base::samples::SonarScan::getSonarBeam	(	const Angle	bearing,
		SonarBeam &	sonar_beam
	)		const

◆ getSpatialResolution()

double base::samples::SonarScan::getSpatialResolution ( ) const

◆ getStartBearing()

Angle base::samples::SonarScan::getStartBearing ( ) const

◆ hasSonarBeam() [1/2]

bool base::samples::SonarScan::hasSonarBeam ( const base::samples::SonarBeam & sonar_beam ) const

◆ hasSonarBeam() [2/2]

bool base::samples::SonarScan::hasSonarBeam ( const Angle bearing ) const

◆ init() [1/2]

void base::samples::SonarScan::init	(	const SonarScan &	other,
		bool	bcopy = `true`
	)

◆ init() [2/2]

void base::samples::SonarScan::init	(	uint16_t	number_of_beams,
		uint16_t	number_of_bins,
		Angle	start_bearing,
		Angle	angular_resolution,
		bool	memory_layout_column = `true`,
		int	val = `-1`
	)

◆ operator=()

SonarScan & base::samples::SonarScan::operator= ( const SonarScan & other )

◆ reset()

void base::samples::SonarScan::reset ( int const val = 0 )

◆ setData() [1/2]

void base::samples::SonarScan::setData ( const std::vector< uint8_t > & data )

◆ setData() [2/2]

void base::samples::SonarScan::setData	(	const char *	data,
		uint32_t	size
	)

◆ swap()

void base::samples::SonarScan::swap ( SonarScan & sonar_scan )

◆ toggleMemoryLayout()

void base::samples::SonarScan::toggleMemoryLayout ( )

Member Data Documentation

◆ angular_resolution

Angle base::samples::SonarScan::angular_resolution

◆ beamwidth_horizontal

Angle base::samples::SonarScan::beamwidth_horizontal

◆ beamwidth_vertical

Angle base::samples::SonarScan::beamwidth_vertical

◆ data

std::vector<uint8_t> base::samples::SonarScan::data

◆ memory_layout_column

bool base::samples::SonarScan::memory_layout_column

◆ number_of_beams

uint16_t base::samples::SonarScan::number_of_beams

◆ number_of_bins

uint16_t base::samples::SonarScan::number_of_bins

◆ polar_coordinates

bool base::samples::SonarScan::polar_coordinates

◆ sampling_interval

double base::samples::SonarScan::sampling_interval

◆ speed_of_sound

float base::samples::SonarScan::speed_of_sound

◆ start_bearing

Angle base::samples::SonarScan::start_bearing

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

All beams are stored from left to right to match the memory layout of an image !!! Therefore the end bearing is usually smaller than the start bearing

◆ time

base::Time base::samples::SonarScan::time

◆ time_beams

std::vector<base::Time> base::samples::SonarScan::time_beams

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

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

Public Member Functions

Public Attributes