mrpt::slam::CObservation2DRangeScan Class Reference

Declares a class derived from "CObservation" that encapsules a 2D range scan measurement (typically from a laser scanner). More...

#include <mrpt/slam/CObservation2DRangeScan.h>

Inheritance diagram for mrpt::slam::CObservation2DRangeScan:

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Collaboration diagram for mrpt::slam::CObservation2DRangeScan:

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List of all members.

Public Types
typedef std::vector < mrpt::math::CPolygon >	TListExclusionAreas
	Used in filterByExclusionAreas.
typedef std::vector< std::pair < mrpt::math::CPolygon, std::pair< double, double > > >	TListExclusionAreasWithRanges
	Used in filterByExclusionAreas.
Public Member Functions
	CObservation2DRangeScan ()
	Default constructor.
virtual	~CObservation2DRangeScan ()
	Destructor.
bool	isPlanarScan (const double tolerance=0) const
	Return true if the laser scanner is "horizontal", so it has an absolute value of "pitch" and "roll" less or equal to the given tolerance (in rads, default=0) (with the normal vector either upwards or downwards).
void	getSensorPose (CPose3D &out_sensorPose) const
	A general method to retrieve the sensor pose on the robot.
void	setSensorPose (const CPose3D &newSensorPose)
	A general method to change the sensor pose on the robot.
void	truncateByDistanceAndAngle (float min_distance, float max_angle, float min_height=0, float max_height=0, float h=0)
	A general method to truncate the scan by defining a minimum valid distance and a maximum valid angle as well as minimun and maximum heights (NOTE: the laser z-coordinate must be provided).
void	filterByExclusionAreas (const TListExclusionAreas &areas)
	Mark as invalid sensed points that fall within any of a set of "exclusion areas", given in coordinates relative to the vehicle (taking into account "sensorPose").
void	filterByExclusionAreas (const TListExclusionAreasWithRanges &areas)
	Mark as invalid sensed points that fall within any of a set of "exclusion areas", given in coordinates relative to the vehicle (taking into account "sensorPose").
void	filterByExclusionAngles (const std::vector< std::pair< double, double > > &angles)
	Mark as invalid the ranges in any of a given set of "forbiden angle ranges", given as pairs<min_angle,max_angle>.
Public Attributes
Scan data

vector_float	scan
	The range values of the scan, in meters.
std::vector< char >	validRange
	It's false (=0) on no reflected rays, referenced to elements in "scan" (Added in the streamming version #1 of the class).
float	aperture
	The aperture of the range finder, in radians (typically M_PI = 180 degrees).
bool	rightToLeft
	The scanning direction.
float	maxRange
	The maximum range allowed by the device, in meters (e.g.
CPose3D	sensorPose
	The 6D pose of the sensor on the robot.
float	stdError
	The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid.
float	beamAperture
	The aperture of each beam, in radians, used to insert "thick" rays in the occupancy grid.
double	deltaPitch
	If the laser gathers data by sweeping in the pitch/elevation angle, this holds the increment in "pitch" (=-"elevation") between the beginning and the end of the scan (the sensorPose member stands for the pose at the beginning of the scan).
Cached points map

mrpt::slam::CMetricMapPtr	m_cachedMap
	A points map, build only under demand by the methods getAuxPointsMap() and buildAuxPointsMap().
template<class POINTSMAP >
const POINTSMAP *	getAuxPointsMap () const
	Returns the cached points map representation of the scan, if already build with buildAuxPointsMap(), or NULL otherwise.
template<class POINTSMAP >
const POINTSMAP *	buildAuxPointsMap (const void *options=NULL) const
	Returns a cached points map representing this laser scan, building it upon the first call.
void	internal_buildAuxPointsMap (const void *options=NULL) const
	Internal method, used from buildAuxPointsMap().

Detailed Description

Declares a class derived from "CObservation" that encapsules a 2D range scan measurement (typically from a laser scanner).

This is prepared for accepting 180deg,360deg or any other aperture scan, as well as resolutions of 0.5deg,0.25deg or any other.

See also:: CObservation

Definition at line 55 of file CObservation2DRangeScan.h.

Member Typedef Documentation

typedef std::vector<mrpt::math::CPolygon> mrpt::slam::CObservation2DRangeScan::TListExclusionAreas

Used in filterByExclusionAreas.

Definition at line 61 of file CObservation2DRangeScan.h.

typedef std::vector<std::pair<mrpt::math::CPolygon,std::pair<double,double> > > mrpt::slam::CObservation2DRangeScan::TListExclusionAreasWithRanges

Used in filterByExclusionAreas.

Definition at line 62 of file CObservation2DRangeScan.h.

Constructor & Destructor Documentation

mrpt::slam::CObservation2DRangeScan::CObservation2DRangeScan ( )

Default constructor.

virtual mrpt::slam::CObservation2DRangeScan::~CObservation2DRangeScan ( ) [virtual]

Destructor.

Member Function Documentation

template<class POINTSMAP >

const POINTSMAP* mrpt::slam::CObservation2DRangeScan::buildAuxPointsMap ( const void * options = NULL ) const [inline]

Returns a cached points map representing this laser scan, building it upon the first call.

Parameters:

options

Can be NULL to use default point maps' insertion options, or a pointer to a "CPointsMap::TInsertionOptions" structure to override some params. Usage:

    mrpt::slam::CPointsMap *map = obs->buildAuxPointsMap<mrpt::slam::CPointsMap>(&options or NULL);

See also:: getAuxPointsMap

Definition at line 149 of file CObservation2DRangeScan.h.

void mrpt::slam::CObservation2DRangeScan::filterByExclusionAngles ( const std::vector< std::pair< double, double > > & angles )

Mark as invalid the ranges in any of a given set of "forbiden angle ranges", given as pairs<min_angle,max_angle>.

See also:: C2DRangeFinderAbstract::loadExclusionAreas

void mrpt::slam::CObservation2DRangeScan::filterByExclusionAreas ( const TListExclusionAreasWithRanges & areas )

Mark as invalid sensed points that fall within any of a set of "exclusion areas", given in coordinates relative to the vehicle (taking into account "sensorPose").

See also:: C2DRangeFinderAbstract::loadExclusionAreas

void mrpt::slam::CObservation2DRangeScan::filterByExclusionAreas ( const TListExclusionAreas & areas )

Mark as invalid sensed points that fall within any of a set of "exclusion areas", given in coordinates relative to the vehicle (taking into account "sensorPose").

See also:: C2DRangeFinderAbstract::loadExclusionAreas

template<class POINTSMAP >

const POINTSMAP* mrpt::slam::CObservation2DRangeScan::getAuxPointsMap ( ) const [inline]

Returns the cached points map representation of the scan, if already build with buildAuxPointsMap(), or NULL otherwise.

Usage:

    mrpt::slam::CPointsMap *map = obs->getAuxPointsMap<mrpt::slam::CPointsMap>();

See also:: buildAuxPointsMap

Definition at line 136 of file CObservation2DRangeScan.h.

void mrpt::slam::CObservation2DRangeScan::getSensorPose ( CPose3D & out_sensorPose ) const [inline, virtual]

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See also:: setSensorPose

Implements mrpt::slam::CObservation.

Definition at line 166 of file CObservation2DRangeScan.h.

void mrpt::slam::CObservation2DRangeScan::internal_buildAuxPointsMap ( const void * options = NULL ) const [protected]

Internal method, used from buildAuxPointsMap().

bool mrpt::slam::CObservation2DRangeScan::isPlanarScan ( const double tolerance = 0 ) const

Return true if the laser scanner is "horizontal", so it has an absolute value of "pitch" and "roll" less or equal to the given tolerance (in rads, default=0) (with the normal vector either upwards or downwards).

void mrpt::slam::CObservation2DRangeScan::setSensorPose ( const CPose3D & newSensorPose ) [inline, virtual]

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See also:: getSensorPose

Implements mrpt::slam::CObservation.

Definition at line 173 of file CObservation2DRangeScan.h.

void mrpt::slam::CObservation2DRangeScan::truncateByDistanceAndAngle	(	float	min_distance,
		float	max_angle,
		float	min_height = `0`,
		float	max_height = `0`,
		float	h = `0`
	)

A general method to truncate the scan by defining a minimum valid distance and a maximum valid angle as well as minimun and maximum heights (NOTE: the laser z-coordinate must be provided).

Member Data Documentation

float mrpt::slam::CObservation2DRangeScan::aperture

The aperture of the range finder, in radians (typically M_PI = 180 degrees).

Definition at line 85 of file CObservation2DRangeScan.h.

Referenced by mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().

float mrpt::slam::CObservation2DRangeScan::beamAperture

The aperture of each beam, in radians, used to insert "thick" rays in the occupancy grid.

(Added in the streamming version #4 of the class)

Definition at line 106 of file CObservation2DRangeScan.h.

double mrpt::slam::CObservation2DRangeScan::deltaPitch

If the laser gathers data by sweeping in the pitch/elevation angle, this holds the increment in "pitch" (=-"elevation") between the beginning and the end of the scan (the sensorPose member stands for the pose at the beginning of the scan).

Definition at line 110 of file CObservation2DRangeScan.h.

Referenced by mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().

mrpt::slam::CMetricMapPtr mrpt::slam::CObservation2DRangeScan::m_cachedMap [mutable, protected]

A points map, build only under demand by the methods getAuxPointsMap() and buildAuxPointsMap().

It's a generic smart pointer to avoid depending here in the library mrpt-obs on classes on other libraries.

Definition at line 122 of file CObservation2DRangeScan.h.

float mrpt::slam::CObservation2DRangeScan::maxRange

The maximum range allowed by the device, in meters (e.g.

80m, 50m,...)

Definition at line 93 of file CObservation2DRangeScan.h.

Referenced by mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().

bool mrpt::slam::CObservation2DRangeScan::rightToLeft