47 #ifndef _MIRA_RANGESCANINFO_H_ 48 #define _MIRA_RANGESCANINFO_H_ 56 namespace mira {
namespace robot {
74 maximumRange(1000.0f),
79 template <
typename Reflector>
82 if (Reflector::isReadOnly::value) {
84 r.property(
"ConeAngle", a,
85 "The opening angle of a single cone in [deg]",
89 r.property(
"ConeAngle", a,
90 "The opening angle of a single cone in [deg]",
103 template <
typename Reflector>
108 r.property(
"StartAngle", startAngle,
109 "The starting orientation of the first sensor cone in [deg]");
110 r.property(
"DeltaAngle", deltaAngle,
111 "The delta angle between neighboring cones in [deg]");
113 r.property(
"Aperture", aperture,
114 "The opening diameter (aperture) of the sensor in [m]");
115 r.property(
"StdError", stdError,
116 "The measuring error of the sensor in [m]");
117 r.property(
"MinimumRange", minimumRange,
118 "The minimum range of valid measurements " 119 "(measurements below this value result in BelowMinimum range code)");
120 r.property(
"MaximumRange", maximumRange,
121 "The the maximum range of valid measurements " 122 "(measurements above this value result in AboveMaximum range code)");
124 r.property(
"ScanTime", scanTime,
125 "Duration between first and last measurement. Time between consecutive range measurement = scanTime / number of scans",
140 std::pair<float, float> getAnglesForOrientation(
const Pose3& mountPosition)
const;
REFLECT_CTRLFLAG_TEMP_TRACKING
tick_type milliseconds() const
Getter< T > rad2degGetter(const T &cref)
float aperture
The aperture of the sensor in [m].
Definition: RangeScanInfo.h:153
float maximumRange
The maximum range of valid measurements (measurements above this value result in AboveMaximum range c...
Definition: RangeScanInfo.h:164
SignedAnglef deltaAngle
The delta angle between neighboring cones.
Definition: RangeScanInfo.h:147
float stdError
The measuring error of the sensor that delivered this scan.
Definition: RangeScanInfo.h:156
Duration scanTime
Duration between first and last measurement.
Definition: RangeScanInfo.h:168
Setter< T > deg2radSetter(T &ref)
void reflectConeAngle(Reflector &r)
Definition: RangeScanInfo.h:80
float coneAngle
The resolution of a single cone.
Definition: RangeScanInfo.h:150
void reflectConeAngle(PropertySerializer &r)
Definition: RangeScanInfo.h:96
RangeScanInfo()
Definition: RangeScanInfo.h:72
RobotDataTypes export macro declaration.
This class stores information about the configuration and geometry of 2D range scans e...
Definition: RangeScanInfo.h:66
constexpr Deg2RadNonNegativeType Deg2RadNonNegative
float minimumRange
The minimum range of valid measurements (measurements below this value result in BelowMinimum range c...
Definition: RangeScanInfo.h:160
PropertyHint minimum(const T &min)
void reflect(Reflector &r)
Definition: RangeScanInfo.h:104
SignedAnglef startAngle
The starting orientation of the first sensor cone.
Definition: RangeScanInfo.h:144
void property(const char *name, T &member, const char *comment, PropertyHint &&hint=PropertyHint(), ReflectCtrlFlags flags=REFLECT_CTRLFLAG_NONE)
#define MIRA_ROBOT_DATATYPES_EXPORT
Definition: RobotDataTypesExports.h:61