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mrpt::slam::CObservation2DRangeScan Class Reference


Detailed Description

A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser scanner).

The data structures are generic enough to hold a wide variety of 2D scanners and "3D" planar rotating 2D lasers.

These are the most important data fields:

See also:
CObservation, CPointsMap

Definition at line 59 of file CObservation2DRangeScan.h.

#include <mrpt/slam/CObservation2DRangeScan.h>

Inheritance diagram for mrpt::slam::CObservation2DRangeScan:
Inheritance graph
[legend]

List of all members.

Public Types

typedef std::vector
< mrpt::math::CPolygon
TListExclusionAreas
 Used in filterByExclusionAreas.
typedef std::vector< std::pair
< mrpt::math::CPolygon,
std::pair< double, double > > > 
TListExclusionAreasWithRanges
 Used in filterByExclusionAreas.

Public Member Functions

 CObservation2DRangeScan ()
 Default constructor.
virtual ~CObservation2DRangeScan ()
 Destructor.
bool isPlanarScan (const double tolerance=0) const
 Return true if the laser scanner is "horizontal", so it 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).
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 TListExclusionAreas &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 filterByExclusionAreas (const TListExclusionAreasWithRanges &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"), AND such as the Z coordinate of the point falls in the range [min,max] associated to each exclusion polygon.
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

Scan data
std::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).

RTTI stuff

typedef CObservation2DRangeScanPtr SmartPtr
static mrpt::utils::CLASSINIT _init_CObservation2DRangeScan
static mrpt::utils::TRuntimeClassId classCObservation2DRangeScan
static const
mrpt::utils::TRuntimeClassId
classinfo
static const
mrpt::utils::TRuntimeClassId
_GetBaseClass ()
virtual const
mrpt::utils::TRuntimeClassId
GetRuntimeClass () const
 Returns information about the class of an object in runtime.
virtual mrpt::utils::CObjectduplicate () const
 Returns a copy of the object, indepently of its class.
static mrpt::utils::CObjectCreateObject ()
static CObservation2DRangeScanPtr Create ()

Cached points map

mrpt::slam::CMetricMapPtr m_cachedMap
 A points map, build only under demand by the methods getAuxPointsMap() and buildAuxPointsMap().
template<class POINTSMAP >
const POINTSMAP * getAuxPointsMap () const
 Returns the cached points map representation of the scan, if already build with buildAuxPointsMap(), or NULL otherwise.
template<class POINTSMAP >
const POINTSMAP * buildAuxPointsMap (const void *options=NULL) const
 Returns a cached points map representing this laser scan, building it upon the first call.
void internal_buildAuxPointsMap (const void *options=NULL) const
 Internal method, used from buildAuxPointsMap()

Member Typedef Documentation

A typedef for the associated smart pointer

Definition at line 62 of file CObservation2DRangeScan.h.

Used in filterByExclusionAreas.

Definition at line 65 of file CObservation2DRangeScan.h.

typedef std::vector<std::pair<mrpt::math::CPolygon,std::pair<double,double> > > mrpt::slam::CObservation2DRangeScan::TListExclusionAreasWithRanges

Used in filterByExclusionAreas.

Definition at line 66 of file CObservation2DRangeScan.h.


Constructor & Destructor Documentation

mrpt::slam::CObservation2DRangeScan::CObservation2DRangeScan (  )

Default constructor.

virtual mrpt::slam::CObservation2DRangeScan::~CObservation2DRangeScan (  ) [virtual]

Destructor.


Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservation2DRangeScan::_GetBaseClass (  ) [static, protected]

Reimplemented from mrpt::slam::CObservation.

template<class POINTSMAP >
const POINTSMAP* mrpt::slam::CObservation2DRangeScan::buildAuxPointsMap ( const void *  options = NULL ) const [inline]

Returns a cached points map representing this laser scan, building it upon the first call.

Parameters:
optionsCan be NULL to use default point maps' insertion options, or a pointer to a "CPointsMap::TInsertionOptions" structure to override some params. Usage:

    mrpt::slam::CPointsMap *map = obs->buildAuxPointsMap<mrpt::slam::CPointsMap>(&options or NULL);
See also:
getAuxPointsMap

Definition at line 153 of file CObservation2DRangeScan.h.

static CObservation2DRangeScanPtr mrpt::slam::CObservation2DRangeScan::Create (  ) [static]
static mrpt::utils::CObject* mrpt::slam::CObservation2DRangeScan::CreateObject (  ) [static]
virtual mrpt::utils::CObject* mrpt::slam::CObservation2DRangeScan::duplicate (  ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

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>.

See also:
C2DRangeFinderAbstract::loadExclusionAreas
void mrpt::slam::CObservation2DRangeScan::filterByExclusionAreas ( const TListExclusionAreasWithRanges 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"), AND such as the Z coordinate of the point falls in the range [min,max] associated to each exclusion polygon.

See also:
C2DRangeFinderAbstract::loadExclusionAreas
void mrpt::slam::CObservation2DRangeScan::filterByExclusionAreas ( const TListExclusionAreas 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").

See also:
C2DRangeFinderAbstract::loadExclusionAreas
template<class POINTSMAP >
const POINTSMAP* mrpt::slam::CObservation2DRangeScan::getAuxPointsMap (  ) const [inline]

Returns the cached points map representation of the scan, if already build with buildAuxPointsMap(), or NULL otherwise.

Usage:

    mrpt::slam::CPointsMap *map = obs->getAuxPointsMap<mrpt::slam::CPointsMap>();
See also:
buildAuxPointsMap

Definition at line 140 of file CObservation2DRangeScan.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::slam::CObservation2DRangeScan::GetRuntimeClass (  ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::slam::CObservation.

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.

See also:
setSensorPose

Implements mrpt::slam::CObservation.

Definition at line 170 of file CObservation2DRangeScan.h.

void mrpt::slam::CObservation2DRangeScan::internal_buildAuxPointsMap ( const void *  options = NULL ) const [protected]

Internal method, used from buildAuxPointsMap()

bool mrpt::slam::CObservation2DRangeScan::isPlanarScan ( const double  tolerance = 0 ) const

Return true if the laser scanner is "horizontal", so it 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).

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.

See also:
getSensorPose

Implements mrpt::slam::CObservation.

Definition at line 177 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).


Member Data Documentation

Definition at line 62 of file CObservation2DRangeScan.h.

The aperture of the range finder, in radians (typically M_PI = 180 degrees).

Definition at line 89 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 110 of file CObservation2DRangeScan.h.

Definition at line 62 of file CObservation2DRangeScan.h.

Definition at line 62 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 114 of file CObservation2DRangeScan.h.

Referenced by mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().

A points map, build only under demand by the methods getAuxPointsMap() and buildAuxPointsMap().

It's a generic smart pointer to avoid depending here in the library mrpt-obs on classes on other libraries.

Definition at line 126 of file CObservation2DRangeScan.h.

The maximum range allowed by the device, in meters (e.g.

80m, 50m,...)

Definition at line 97 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 105 of file CObservation2DRangeScan.h.

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 85 of file CObservation2DRangeScan.h.

Referenced by mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().




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