RangeScanInfo Class Reference

This class stores information about the configuration and geometry of 2D range scans e.g. More...

#include <robot/RangeScanInfo.h>

Inheritance diagram for RangeScanInfo:

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
	RangeScanInfo ()
template<typename Reflector >
void	reflectConeAngle (Reflector &r)
void	reflectConeAngle (PropertySerializer &r)
template<typename Reflector >
void	reflect (Reflector &r)

Public Attributes
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 stores information about the configuration and geometry of 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.

Constructor & Destructor Documentation

RangeScanInfo()

RangeScanInfo ( )

inline

Member Function Documentation

reflectConeAngle() [1/2]

void reflectConeAngle ( Reflector &  r )

inline

reflectConeAngle() [2/2]

void reflectConeAngle ( PropertySerializer &  r )

inline

reflect()

void reflect ( Reflector &  r )

inline

getAnglesForOrientation()

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.

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

startAngle

SignedAnglef startAngle

The starting orientation of the first sensor cone.

deltaAngle

SignedAnglef deltaAngle

The delta angle between neighboring cones.

coneAngle

float coneAngle

The resolution of a single cone.

aperture

float aperture

The aperture of the sensor in [m].

stdError

float stdError

The measuring error of the sensor that delivered this scan.

minimumRange

float minimumRange

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

maximumRange

float maximumRange

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

scanTime

Duration scanTime

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/RangeScanInfo.h