g2o::RobotLaser Class Reference

laser measurement obtained by a robot More...

#include <robot_laser.h>

Inheritance diagram for g2o::RobotLaser:

Collaboration diagram for g2o::RobotLaser:

Public Member Functions
	RobotLaser ()
	~RobotLaser ()
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...
SE2	laserPose () const
const SE2 &	odomPose () const
void	setOdomPose (const SE2 &odomPose)
Public Member Functions inherited from g2o::RawLaser
	RawLaser ()
	~RawLaser ()
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

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Attributes
SE2	_odomPose
double	_laserTv
	velocities and safety distances of the robot. More...
double	_laserRv
double	_forwardSafetyDist
double	_sideSaftyDist
double	_turnAxis
Protected Attributes inherited from g2o::RawLaser
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

Additional Inherited Members
Public Types inherited from g2o::RawLaser
typedef std::vector< Vector2D, Eigen::aligned_allocator< Vector2D > >	Point2DVector

Detailed Description

laser measurement obtained by a robot

A laser measurement obtained by a robot. The measurement is equipped with a pose of the robot at which the measurement was taken. The read/write function correspond to the CARMEN logfile format.

Definition at line 42 of file robot_laser.h.

Constructor & Destructor Documentation

g2o::RobotLaser::RobotLaser

(

)

Definition at line 40 of file robot_laser.cpp.

                         :
    RawLaser(),
    _laserTv(0.), _laserRv(0.), _forwardSafetyDist(0.), _sideSaftyDist(0.), _turnAxis(0.)
  {
  }

g2o::RobotLaser::~RobotLaser

(

)

Definition at line 46 of file robot_laser.cpp.

  {
  }

Member Function Documentation

SE2 g2o::RobotLaser::laserPose ( ) const

inline

Definition at line 52 of file robot_laser.h.

Referenced by main(), and setOdomPose().

{ return _odomPose * _laserParams.laserPose;} 

const SE2& g2o::RobotLaser::odomPose ( ) const

inline

Definition at line 53 of file robot_laser.h.

Referenced by g2o::addOdometryCalibLinksDifferential(), main(), and setOdomPose().

{ return _odomPose;}

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

virtual

read the data from a stream

Reimplemented from g2o::RawLaser.

Definition at line 50 of file robot_laser.cpp.

References _forwardSafetyDist, g2o::RobotData::_hostname, g2o::RawLaser::_laserParams, _laserRv, _laserTv, g2o::RobotData::_loggerTimestamp, _odomPose, g2o::RawLaser::_ranges, g2o::RawLaser::_remissions, _sideSaftyDist, g2o::RobotData::_timestamp, _turnAxis, g2o::SE2::inverse(), and g2o::LaserParameters::laserPose.

Referenced by g2o::Gm2dlIO::readGm2dl(), and g2o::Gm2dlIO::readRobotLaser().

  {
    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];

    // special robot laser stuff
    double x,y,theta;
    is >> x >> y >> theta;
    SE2 lp(x,y,theta);
    //cerr << "x: " << x << " y:" << y << " th:" << theta << " ";
    is >> x >> y >> theta;
    //cerr << "x: " << x << " y:" << y << " th:" << theta;
    _odomPose = SE2(x,y,theta);
    _laserParams.laserPose = _odomPose.inverse()*lp;
    is >> _laserTv >>  _laserRv >>  _forwardSafetyDist >> _sideSaftyDist >> _turnAxis;

    // timestamp + host
    is >> _timestamp;
    is >> _hostname;
    is >> _loggerTimestamp;
    return true;
  }

void g2o::RobotLaser::setOdomPose

(

const SE2 &

odomPose

)

Definition at line 113 of file robot_laser.cpp.

References _odomPose, g2o::RawLaser::cartesian(), g2o::RawLaser::laserParams(), g2o::LaserParameters::laserPose, laserPose(), odomPose(), RAD2DEG, g2o::DrawAction::refreshPropertyPtrs(), g2o::SE2::rotation(), step(), and g2o::SE2::translation().

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

  {
    _odomPose = odomPose;
  }

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

virtual

write the data to a stream

Reimplemented from g2o::RawLaser.

Definition at line 87 of file robot_laser.cpp.

References _forwardSafetyDist, g2o::RawLaser::_laserParams, _laserRv, _laserTv, _odomPose, g2o::RawLaser::_remissions, _sideSaftyDist, _turnAxis, g2o::LaserParameters::accuracy, g2o::LaserParameters::angularStep, g2o::LaserParameters::firstBeamAngle, g2o::LaserParameters::fov, g2o::RobotData::hostname(), g2o::LaserParameters::laserPose, g2o::RobotData::loggerTimestamp(), g2o::LaserParameters::maxRange, g2o::RawLaser::ranges(), g2o::LaserParameters::remissionMode, g2o::RobotData::timestamp(), g2o::SE2::toVector(), and g2o::LaserParameters::type.

  {
    os << _laserParams.type << " " << _laserParams.firstBeamAngle << " " << _laserParams.fov << " "
      << _laserParams.angularStep << " " << _laserParams.maxRange << " " << _laserParams.accuracy << " "
      << _laserParams.remissionMode << " ";
    os << ranges().size();
    for (size_t i = 0; i < ranges().size(); ++i)
      os << " " << ranges()[i];
    os << " " << _remissions.size();
    for (size_t i = 0; i < _remissions.size(); ++i)
      os << " " << _remissions[i];

    // odometry pose
    Vector3D p = (_odomPose * _laserParams.laserPose).toVector();
    os << " " << p.x() << " " << p.y() << " " << p.z();
    p = _odomPose.toVector();
    os << " " << p.x() << " " << p.y() << " " << p.z();

    // crap values
    os << FIXED(" " <<  _laserTv << " " <<  _laserRv << " " << _forwardSafetyDist << " "
        << _sideSaftyDist << " " << _turnAxis);
    os << FIXED(" " << timestamp() << " " << hostname() << " " << loggerTimestamp());

    return os.good();
  }

Member Data Documentation

double g2o::RobotLaser::_forwardSafetyDist

protected

Definition at line 59 of file robot_laser.h.

Referenced by read(), and write().

double g2o::RobotLaser::_laserRv

protected

Definition at line 59 of file robot_laser.h.

Referenced by read(), and write().

double g2o::RobotLaser::_laserTv

protected

velocities and safety distances of the robot.

Definition at line 59 of file robot_laser.h.

Referenced by read(), and write().

SE2 g2o::RobotLaser::_odomPose

protected

Definition at line 57 of file robot_laser.h.

Referenced by read(), setOdomPose(), and write().

double g2o::RobotLaser::_sideSaftyDist

protected

Definition at line 59 of file robot_laser.h.

Referenced by read(), and write().

double g2o::RobotLaser::_turnAxis

protected

Definition at line 59 of file robot_laser.h.

Referenced by read(), and write().

g2o::RobotLaser::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 45 of file robot_laser.h.

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

• /home/xuezhisd/CLionProjects/g2o/g2o/types/data/robot_laser.h
• /home/xuezhisd/CLionProjects/g2o/g2o/types/data/robot_laser.cpp