Raw laser measuerement. More...

#include <raw_laser.h>

Inheritance diagram for g2o::RawLaser:

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Collaboration diagram for g2o::RawLaser:

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Public Types
typedef std::vector< Vector2D, Eigen::aligned_allocator< Vector2D > >	Point2DVector

Public Member Functions
	RawLaser ()

	~RawLaser ()

virtual bool	write (std::ostream &os) const
	write the data to a stream More...

virtual bool	read (std::istream &is)
	read the data from a stream More...

Point2DVector	cartesian () const

const std::vector< double > &	ranges () const
	the range measurements by the laser More...

void	setRanges (const std::vector< double > &ranges)

const std::vector< double > &	remissions () const
	the remission measurements by the laser More...

void	setRemissions (const std::vector< double > &remissions)

const LaserParameters &	laserParams () const
	the parameters of the laser More...

void	setLaserParams (const LaserParameters &laserParams)

Public Member Functions inherited from g2o::RobotData
	RobotData ()

virtual	~RobotData ()

double	timestamp () const

void	setTimestamp (double ts)

double	loggerTimestamp () const

void	setLoggerTimestamp (double ts)

const std::string &	tag () const

void	setTag (const std::string &tag)

const std::string &	hostname () const

void	setHostname (const std::string &hostname)

Public Member Functions inherited from g2o::HyperGraph::Data
	Data ()

	~Data ()

virtual HyperGraph::HyperGraphElementType	elementType () const

const Data *	next () const

Data *	next ()

void	setNext (Data *next_)

DataContainer *	dataContainer ()

const DataContainer *	dataContainer () const

void	setDataContainer (DataContainer *dataContainer_)

Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual	~HyperGraphElement ()

HyperGraphElement *	clone () const

Protected Attributes
std::vector< double >	_ranges

std::vector< double >	_remissions

LaserParameters	_laserParams

Protected Attributes inherited from g2o::RobotData
double	_timestamp
	timestamp when the measurement was generated More...

double	_loggerTimestamp
	timestamp when the measurement was recorded More...

std::string	_tag
	string tag (FLASER, ROBOTLASER, ODOM..) of the line in the log More...

std::string	_hostname
	name of the computer/robot generating the data More...

Protected Attributes inherited from g2o::HyperGraph::Data
Data *	_next

DataContainer *	_dataContainer

Detailed Description

Raw laser measuerement.

A raw laser measuerement. The read/write function correspond to the format of CARMEN.

Definition at line 46 of file raw_laser.h.

Member Typedef Documentation

typedef std::vector<Vector2D, Eigen::aligned_allocator<Vector2D> > g2o::RawLaser::Point2DVector

Definition at line 48 of file raw_laser.h.

Constructor & Destructor Documentation

g2o::RawLaser::RawLaser ( )

Definition at line 35 of file raw_laser.cpp.

                      :
     RobotData(),
     _laserParams(0, 180, -M_PI/2, M_PI/180., 50.,0.1, 0)
   {
   }

g2o::RawLaser::~RawLaser ( )

Definition at line 41 of file raw_laser.cpp.

42 {

43 }

Member Function Documentation

RawLaser::Point2DVector g2o::RawLaser::cartesian ( ) const

computes a cartesian view of the beams (x,y).

Returns: a vector with the points of the scan in cartesian coordinates.

Definition at line 93 of file raw_laser.cpp.

References _laserParams, _ranges, g2o::LaserParameters::angularStep, g2o::LaserParameters::firstBeamAngle, and g2o::LaserParameters::maxRange.

Referenced by g2o::RobotLaser::setOdomPose().

   {
     Point2DVector points;
     for (size_t i = 0; i < _ranges.size(); ++i) {
       const double& r = _ranges[i];
       if (r < _laserParams.maxRange) {
         double alpha = _laserParams.firstBeamAngle + i * _laserParams.angularStep;
         points.push_back(Vector2D(cos(alpha) * r, sin(alpha) * r));
       }
     }
     return points;
   }

const LaserParameters& g2o::RawLaser::laserParams ( ) const

inline

the parameters of the laser

Definition at line 72 of file raw_laser.h.

Referenced by g2o::Gm2dlIO::readGm2dl(), setLaserParams(), g2o::RobotLaser::setOdomPose(), and g2o::Gm2dlIO::updateLaserData().

72 { return _laserParams;}

g2o::RawLaser::_laserParams

LaserParameters _laserParams

Definition: raw_laser.h:78

const std::vector<double>& g2o::RawLaser::ranges ( ) const

inline

the range measurements by the laser

Definition at line 64 of file raw_laser.h.

Referenced by setRanges(), and g2o::RobotLaser::write().

64 { return _ranges;}

g2o::RawLaser::_ranges

std::vector< double > _ranges

Definition: raw_laser.h:76

bool g2o::RawLaser::read ( std::istream & is )

virtual

read the data from a stream

Implements g2o::HyperGraph::Data.

Reimplemented in g2o::RobotLaser.

Definition at line 52 of file raw_laser.cpp.

References g2o::RobotData::_hostname, _laserParams, g2o::RobotData::_loggerTimestamp, _ranges, _remissions, and g2o::RobotData::_timestamp.

   {
     int type;
     double angle, fov, res, maxrange, acc;
     int remission_mode;
     is >> type >> angle >> fov >> res >> maxrange >> acc >> remission_mode;
 
     int beams;
     is >> beams;
     _laserParams = LaserParameters(type, beams, angle, res, maxrange, acc, remission_mode);      
     _ranges.resize(beams);
     for (int i=0; i<beams; i++)
       is >> _ranges[i];
 
     is >> beams;
     _remissions.resize(beams);
     for (int i=0; i < beams; i++)
       is >> _remissions[i];
 
     // timestamp + host
     is >> _timestamp;
     is >> _hostname;
     is >> _loggerTimestamp;
     return true;
   }

const std::vector<double>& g2o::RawLaser::remissions ( ) const

inline

the remission measurements by the laser

Definition at line 68 of file raw_laser.h.

Referenced by setRemissions().

68 { return _remissions;}

g2o::RawLaser::_remissions

std::vector< double > _remissions

Definition: raw_laser.h:77

void g2o::RawLaser::setLaserParams ( const LaserParameters & laserParams )

Definition at line 88 of file raw_laser.cpp.

References _laserParams, and laserParams().

Referenced by g2o::Gm2dlIO::updateLaserData().

   {
     _laserParams = laserParams;
   }

void g2o::RawLaser::setRanges ( const std::vector< double > & ranges )

Definition at line 78 of file raw_laser.cpp.

References _ranges, and ranges().

   {
     _ranges = ranges;
   }

void g2o::RawLaser::setRemissions ( const std::vector< double > & remissions )

Definition at line 83 of file raw_laser.cpp.

References _remissions, and remissions().

   {
     _remissions = remissions;
   }

bool g2o::RawLaser::write ( std::ostream & os ) const

virtual

write the data to a stream

Implements g2o::HyperGraph::Data.

Reimplemented in g2o::RobotLaser.

Definition at line 45 of file raw_laser.cpp.

   {
     // TODO
     cerr << "RawLaser::write() not implemented yet." << endl;
     return false;
   }

Member Data Documentation

LaserParameters g2o::RawLaser::_laserParams

protected

Definition at line 78 of file raw_laser.h.

Referenced by cartesian(), g2o::RobotLaser::read(), read(), setLaserParams(), and g2o::RobotLaser::write().

std::vector<double> g2o::RawLaser::_ranges

protected

Definition at line 76 of file raw_laser.h.

Referenced by cartesian(), g2o::RobotLaser::read(), read(), and setRanges().

std::vector<double> g2o::RawLaser::_remissions

protected

Definition at line 77 of file raw_laser.h.

Referenced by g2o::RobotLaser::read(), read(), setRemissions(), and g2o::RobotLaser::write().

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

/home/xuezhisd/CLionProjects/g2o/g2o/types/data/raw_laser.h
/home/xuezhisd/CLionProjects/g2o/g2o/types/data/raw_laser.cpp

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation