#include <updater.h>

Public Member Functions
void	configure (tue::Configuration &config)
	Configure updater. More...

void	configureLaserModel (uint num_beams, double angle_min, double angle_max, double range_min, double range_max)
	configure the LRF model based on a laserscan message More...

unsigned int	getNumBeams ()
	get the number of beams of the model More...

void	renderWorld (const geo::Pose3D &sensor_pose, const ed::WorldModel &world, std::vector< double > &model_ranges)
	render the worldmodel as would be seen by the lrf. More...

void	setLaserFrame (const std::string &frame_id)
	set the frame of the laser model More...

void	update (const ed::WorldModel &world, std::vector< double > &sensor_ranges, const geo::Pose3D &sensor_pose, const double timestamp, ed::UpdateRequest &req)
	update update the worldmodel based on a novel laserscan message. More...

Public Attributes
bool	fit_entities_

double	max_cluster_size_

uint	max_gap_size_

double	min_cluster_size_

uint	min_segment_size_pixels_

double	segment_depth_threshold_

double	world_association_distance_

Private Member Functions
void	associate (std::vector< double > &sensor_ranges, const std::vector< double > &model_ranges)
	associate: filter sensor information and remove ranges that can be associated with the worldmodel. Leaving only novel data. More...

std::vector< ScanSegment >	segment (const std::vector< double > &sensor_ranges)
	divide the sensor ranges into segments More...

EntityUpdate	segmentToConvexHull (const ScanSegment &segment, const geo::Pose3D &sensor_pose, const std::vector< double > &sensor_ranges)
	convert a segment of ranges to a convex hull More...

Private Attributes
std::string	lrf_frame_

geo::LaserRangeFinder	lrf_model_

std::map< ed::UUID, geo::Pose3D >	pose_cache

Detailed Description

Definition at line 17 of file laser/updater.h.

Member Function Documentation

◆ associate()

void LaserUpdater::associate	(	std::vector< double > &	sensor_ranges,
		const std::vector< double > &	model_ranges
	)

private

associate: filter sensor information and remove ranges that can be associated with the worldmodel. Leaving only novel data.

Parameters

[in]	sensor_ranges	distances measured by the lrf
[in,out]	model_ranges	distances as predicted by the worldmodel. Will be filtered. (associated ranges have value 0.0)

Definition at line 471 of file laser/updater.cpp.

◆ configure()

void LaserUpdater::configure ( tue::Configuration & config )

Configure updater.

Parameters

[in] config Configuration which may contain the following fields: world_association_distance min_segment_size_pixels segment_depth_threshold min_cluster_size max_cluster_size max_gap_size fit_entities Whether or not to fit an entity (0 or 1)

Definition at line 258 of file laser/updater.cpp.

◆ configureLaserModel()

void LaserUpdater::configureLaserModel	(	uint	num_beams,
		double	angle_min,
		double	angle_max,
		double	range_min,
		double	range_max
	)

inline

configure the LRF model based on a laserscan message

Parameters

num_beams	number of beams in the lrf model
angle_min	angle corresponding to the first beam in radians
angle_max	angle corresponding to the final beam in radians
range_min	minimum distance that can be detected with the lrf in meters
range_max	maximum distance that can be detected with the lrf in meters

Definition at line 56 of file laser/updater.h.

◆ getNumBeams()

unsigned int LaserUpdater::getNumBeams ( )

inline

get the number of beams of the model

Definition at line 73 of file laser/updater.h.

◆ renderWorld()

void LaserUpdater::renderWorld	(	const geo::Pose3D &	sensor_pose,
		const ed::WorldModel &	world,
		std::vector< double > &	model_ranges
	)

render the worldmodel as would be seen by the lrf.

Parameters

[in]	sensor_pose	pose of the lrf to be modeled in the world frame.
[in]	world	worldmodel
[out]	model_ranges	ranges of distances as would be seen by an lrf

Definition at line 451 of file laser/updater.cpp.

◆ segment()

std::vector< ScanSegment > LaserUpdater::segment ( const std::vector< double > & sensor_ranges )

private

divide the sensor ranges into segments

Definition at line 484 of file laser/updater.cpp.

◆ segmentToConvexHull()

EntityUpdate LaserUpdater::segmentToConvexHull	(	const ScanSegment &	segment,
		const geo::Pose3D &	sensor_pose,
		const std::vector< double > &	sensor_ranges
	)

private

convert a segment of ranges to a convex hull

Definition at line 565 of file laser/updater.cpp.

◆ setLaserFrame()

void LaserUpdater::setLaserFrame ( const std::string & frame_id )

inline

set the frame of the laser model

Parameters

frame_id frame id of the laser

Definition at line 68 of file laser/updater.h.

◆ update()

void LaserUpdater::update	(	const ed::WorldModel &	world,
		std::vector< double > &	sensor_ranges,
		const geo::Pose3D &	sensor_pose,
		const double	timestamp,
		ed::UpdateRequest &	req
	)

update update the worldmodel based on a novel laserscan message.

Parameters

[in]	world	worldmodel to be updated
[in]	sensor_ranges	distances measured by the lrf
[in]	sensor_pose	pose of the lrf sensor at the time of the measurement
[in]	timestamp	timestamp of the lrf measurment
[out]	req	update request

Definition at line 278 of file laser/updater.cpp.

Member Data Documentation

◆ fit_entities_

bool LaserUpdater::fit_entities_

Definition at line 90 of file laser/updater.h.

◆ lrf_frame_

std::string LaserUpdater::lrf_frame_

private

Definition at line 114 of file laser/updater.h.

◆ lrf_model_

geo::LaserRangeFinder LaserUpdater::lrf_model_

private

Definition at line 113 of file laser/updater.h.

◆ max_cluster_size_

double LaserUpdater::max_cluster_size_

Definition at line 89 of file laser/updater.h.

◆ max_gap_size_

uint LaserUpdater::max_gap_size_

Definition at line 91 of file laser/updater.h.

◆ min_cluster_size_

double LaserUpdater::min_cluster_size_

Definition at line 88 of file laser/updater.h.

◆ min_segment_size_pixels_

uint LaserUpdater::min_segment_size_pixels_

Definition at line 85 of file laser/updater.h.

◆ pose_cache

std::map<ed::UUID, geo::Pose3D> LaserUpdater::pose_cache

private

Definition at line 116 of file laser/updater.h.

◆ segment_depth_threshold_

double LaserUpdater::segment_depth_threshold_

Definition at line 87 of file laser/updater.h.

◆ world_association_distance_

double LaserUpdater::world_association_distance_

Definition at line 86 of file laser/updater.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Function Documentation

◆ associate()

◆ configure()

◆ configureLaserModel()

◆ getNumBeams()

◆ renderWorld()

◆ segment()

◆ segmentToConvexHull()

◆ setLaserFrame()

◆ update()

Member Data Documentation

◆ fit_entities_

◆ lrf_frame_

◆ lrf_model_

◆ max_cluster_size_

◆ max_gap_size_

◆ min_cluster_size_

◆ min_segment_size_pixels_

◆ pose_cache

◆ segment_depth_threshold_

◆ world_association_distance_