RangeScan Class Reference

This class represents 2D range scans e.g. More...

#include <robot/RangeScan.h>

Inheritance diagram for RangeScan:

Public Types
enum	RangeCode {   Valid = 0, BelowMinimum, AboveMaximum, Invalid,   Masked, InvalidUser = 1000 }
	Codes used for single scans to signal if they are valid. More...

Public Member Functions
std::pair< float, float >	getAnglesForOrientation (const Pose3 &mountPosition) const
	Returns pair of adjusted start and delta angle for this scan assuming the scan was taken at the given mount position. More...
Constructors and reflect
	RangeScan ()
	RangeScan (std::size_t scans)
	Construct a new range scan object with a given number of scans. More...
template<typename Reflector >
void	reflect (Reflector &r)
Constructors and reflect
template<typename Reflector >
void	reflectConeAngle (Reflector &r)
void	reflectConeAngle (PropertySerializer &r)

Public Attributes
std::vector< float >	range
	The range scans. Values in meter. More...
std::vector< uint16 >	valid
	Information if a scan is valid. More...
std::vector< float >	certainty
	Optional certainty values for each scan referenced to the appropriate scan vector element. More...
std::vector< float >	reflectance
	Optional reflectance values for each scan referenced to the appropriate scan vector element. More...
SignedAnglef	startAngle
	The starting orientation of the first sensor cone. More...
SignedAnglef	deltaAngle
	The delta angle between neighboring cones. More...
float	coneAngle
	The resolution of a single cone. More...
float	aperture
	The aperture of the sensor in [m]. More...
float	stdError
	The measuring error of the sensor that delivered this scan. More...
float	minimumRange
	The minimum range of valid measurements (measurements below this value result in BelowMinimum range code). More...
float	maximumRange
	The maximum range of valid measurements (measurements above this value result in AboveMaximum range code). More...
Duration	scanTime
	Duration between first and last measurement. More...

Detailed Description

This class represents 2D range scans e.g.

for laser, infrared or ultra-sonic sensors. A laser would have several scans in the scan vector whereas the scan vector of an ultra-sonic sensor would only contain a single scan.

Member Enumeration Documentation

RangeCode

enum RangeCode

Codes used for single scans to signal if they are valid.

Enumerator
Valid	Scan is valid.
BelowMinimum	Scan is below the minimum scan range of the sensor.
AboveMaximum	Scan is above the maximum scan range of the sensor.
Invalid	Scan is invalid.
Masked	Scan is masked out and therefore not used.
InvalidUser	The first range code for device specific codes.

Constructor & Destructor Documentation

RangeScan() [1/2]

RangeScan ( )

inline

RangeScan() [2/2]

RangeScan ( std::size_t  scans )

inline

Construct a new range scan object with a given number of scans.

The vectors range and valid will be initialized with the given size, but the content of this vectors will be undefined! The vectors certainty and reflectance will be initialized with size 0.

Parameters

[in]

scans

The number of scans in the range scan.

Member Function Documentation

reflect()

void reflect ( Reflector &  r )

inline

reflectConeAngle() [1/2]

void reflectConeAngle ( Reflector &  r )

inlineinherited

reflectConeAngle() [2/2]

void reflectConeAngle ( PropertySerializer &  r )

inlineinherited

getAnglesForOrientation()

std::pair<float, float> getAnglesForOrientation ( const Pose3 &  mountPosition ) const

inherited

Returns pair of adjusted start and delta angle for this scan assuming the scan was taken at the given mount position.

This is useful for lasers mounted upside down. start and delta angle are in (-pi,pi) interval.

Exceptions

XInvalidParameter

when laser is not mounted upright or upside down.

Member Data Documentation

range

std::vector<float> range

The range scans. Values in meter.

valid

std::vector<uint16> valid

Information if a scan is valid.

Each value is referenced to the appropriate scan vector element. The elements should be taken from RangeCode for standard values. Device specific value can be used starting at RangeCode::InvalidUser.

certainty

std::vector<float> certainty

Optional certainty values for each scan referenced to the appropriate scan vector element.

reflectance

std::vector<float> reflectance

Optional reflectance values for each scan referenced to the appropriate scan vector element.

startAngle

SignedAnglef startAngle

inherited

The starting orientation of the first sensor cone.

deltaAngle

SignedAnglef deltaAngle

inherited

The delta angle between neighboring cones.

coneAngle

float coneAngle

inherited

The resolution of a single cone.

aperture

float aperture

inherited

The aperture of the sensor in [m].

stdError

float stdError

inherited

The measuring error of the sensor that delivered this scan.

minimumRange

float minimumRange

inherited

The minimum range of valid measurements (measurements below this value result in BelowMinimum range code).

maximumRange

float maximumRange

inherited

The maximum range of valid measurements (measurements above this value result in AboveMaximum range code).

scanTime

Duration scanTime

inherited

Duration between first and last measurement.

Time between consecutive range measurement = scanTime / number of scans

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

• include/robot/RangeScan.h