#include <LaserRangeFinder.h>

Classes
class	RenderOptions

class	RenderResult

Public Member Functions
double	getAngleIncrement () const
	Angle increment between two beams. More...

double	getAngleMax () const

double	getAngleMin () const

const std::vector< double > &	getAngles () const

uint	getAngleUpperIndex (double angle) const
	Get the index of the first beam with a higher angle than this beam. More...

uint	getAngleUpperIndex (double x, double y) const

uint	getNumBeams () const

double	getRangeMax () const

double	getRangeMin () const

const geo::Vector3	getRayDirection (uint i) const

	LaserRangeFinder ()

bool	rangesToPoints (const std::vector< double > &ranges, std::vector< geo::Vector3 > &points) const

geo::Vector3	rangeToPoint (double range, uint i) const

const std::vector< geo::Vector3 > &	rayDirections () const

void	render (const geo::LaserRangeFinder::RenderOptions &options, geo::LaserRangeFinder::RenderResult &res) const

RenderResult	render (const geo::Shape &shape, const geo::Pose3D &cam_pose, const geo::Pose3D &obj_pose, std::vector< double > &ranges) const

void	renderLine (const geo::Vec2 &p1, const geo::Vec2 &p2, std::vector< double > &ranges) const

void	setAngleLimits (double min, double max)

void	setNumBeams (uint n)

void	setRangeLimits (double min, double max)

virtual	~LaserRangeFinder ()

Static Public Member Functions
static geo::Vector3	polarTo2D (double angle, double range)

static geo::Vector3	polarTo3D (const geo::Pose3D &laser_pose, double angle, double range)

Protected Member Functions
void	calculateRays ()

int	getAngleUpperIndexRaw (double angle) const
	Get the index of the first beam with a higher angle than `angle`. Results may lie outside of the sensor range. More...

int	getAngleUpperIndexRaw (double x, double y) const

Protected Attributes
double	a_max_

double	a_min_

double	angle_incr_

std::vector< double >	angles_

uint	i_half_circle_

uint	num_beams_

double	range_max_

double	range_min_

std::vector< geo::Vector3 >	ray_dirs_

Detailed Description

Definition at line 13 of file LaserRangeFinder.h.

Constructor & Destructor Documentation

◆ LaserRangeFinder()

geo::LaserRangeFinder::LaserRangeFinder ( )

Definition at line 8 of file LaserRangeFinder.cpp.

◆ ~LaserRangeFinder()

geo::LaserRangeFinder::~LaserRangeFinder ( )

virtual

Definition at line 11 of file LaserRangeFinder.cpp.

Member Function Documentation

◆ calculateRays()

void geo::LaserRangeFinder::calculateRays ( )

protected

Definition at line 300 of file LaserRangeFinder.cpp.

◆ getAngleIncrement()

double geo::LaserRangeFinder::getAngleIncrement ( ) const

Angle increment between two beams.

\( \frac{angle_{max} - angle_{min}}{N_{beams} - 1}\)

Definition at line 319 of file LaserRangeFinder.cpp.

◆ getAngleMax()

double geo::LaserRangeFinder::getAngleMax ( ) const

inline

Definition at line 73 of file LaserRangeFinder.h.

◆ getAngleMin()

double geo::LaserRangeFinder::getAngleMin ( ) const

inline

Definition at line 71 of file LaserRangeFinder.h.

◆ getAngles()

const std::vector<double>& geo::LaserRangeFinder::getAngles ( ) const

inline

Definition at line 82 of file LaserRangeFinder.h.

◆ getAngleUpperIndex() [1/2]

uint geo::LaserRangeFinder::getAngleUpperIndex ( double angle ) const

Get the index of the first beam with a higher angle than this beam.

Parameters

angle radial angle of the beam

Returns: Index of the beam, which bounded to be the number of beams [0, N_BEAMS]

Definition at line 323 of file LaserRangeFinder.cpp.

◆ getAngleUpperIndex() [2/2]

uint geo::LaserRangeFinder::getAngleUpperIndex	(	double	x,
		double	y
	)		const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

x	x-coordinate
y	y-coordinate

Returns: Index of the beam, which bounded to be the number of beams [0, N_BEAMS]

Definition at line 327 of file LaserRangeFinder.cpp.

◆ getAngleUpperIndexRaw() [1/2]

int geo::LaserRangeFinder::getAngleUpperIndexRaw ( double angle ) const

protected

Get the index of the first beam with a higher angle than angle. Results may lie outside of the sensor range.

Parameters

angle radial angle of the beam

Returns: Index of the beam

Definition at line 332 of file LaserRangeFinder.cpp.

◆ getAngleUpperIndexRaw() [2/2]

int geo::LaserRangeFinder::getAngleUpperIndexRaw	(	double	x,
		double	y
	)		const

protected

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters

x	x-coordinate
y	y-coordinate

Returns: Index of the beam

Definition at line 336 of file LaserRangeFinder.cpp.

◆ getNumBeams()

uint geo::LaserRangeFinder::getNumBeams ( ) const

inline

Definition at line 88 of file LaserRangeFinder.h.

◆ getRangeMax()

double geo::LaserRangeFinder::getRangeMax ( ) const

inline

Definition at line 86 of file LaserRangeFinder.h.

◆ getRangeMin()

double geo::LaserRangeFinder::getRangeMin ( ) const

inline

Definition at line 84 of file LaserRangeFinder.h.

◆ getRayDirection()

const geo::Vector3 geo::LaserRangeFinder::getRayDirection ( uint i ) const

Definition at line 351 of file LaserRangeFinder.cpp.

◆ polarTo2D()

geo::Vector3 geo::LaserRangeFinder::polarTo2D	(	double	angle,
		double	range
	)

static

Definition at line 366 of file LaserRangeFinder.cpp.

◆ polarTo3D()

geo::Vector3 geo::LaserRangeFinder::polarTo3D	(	const geo::Pose3D &	laser_pose,
		double	angle,
		double	range
	)

static

Definition at line 370 of file LaserRangeFinder.cpp.

◆ rangesToPoints()

bool geo::LaserRangeFinder::rangesToPoints	(	const std::vector< double > &	ranges,
		std::vector< geo::Vector3 > &	points
	)		const

Definition at line 355 of file LaserRangeFinder.cpp.

◆ rangeToPoint()

geo::Vector3 geo::LaserRangeFinder::rangeToPoint	(	double	range,
		uint	i
	)		const

Definition at line 347 of file LaserRangeFinder.cpp.

◆ rayDirections()

const std::vector<geo::Vector3>& geo::LaserRangeFinder::rayDirections ( ) const

inline

Definition at line 115 of file LaserRangeFinder.h.

◆ render() [1/2]

void geo::LaserRangeFinder::render	(	const geo::LaserRangeFinder::RenderOptions &	options,
		geo::LaserRangeFinder::RenderResult &	res
	)		const

Definition at line 142 of file LaserRangeFinder.cpp.

◆ render() [2/2]

LaserRangeFinder::RenderResult geo::LaserRangeFinder::render	(	const geo::Shape &	shape,
		const geo::Pose3D &	cam_pose,
		const geo::Pose3D &	obj_pose,
		std::vector< double > &	ranges
	)		const

Definition at line 258 of file LaserRangeFinder.cpp.

◆ renderLine()

void geo::LaserRangeFinder::renderLine	(	const geo::Vec2 &	p1,
		const geo::Vec2 &	p2,
		std::vector< double > &	ranges
	)		const

Definition at line 272 of file LaserRangeFinder.cpp.

◆ setAngleLimits()

void geo::LaserRangeFinder::setAngleLimits	(	double	min,
		double	max
	)

Definition at line 285 of file LaserRangeFinder.cpp.

◆ setNumBeams()

void geo::LaserRangeFinder::setNumBeams ( uint n )

Definition at line 293 of file LaserRangeFinder.cpp.

◆ setRangeLimits()

void geo::LaserRangeFinder::setRangeLimits	(	double	min,
		double	max
	)

inline

Definition at line 67 of file LaserRangeFinder.h.

Member Data Documentation

◆ a_max_

double geo::LaserRangeFinder::a_max_

protected

Definition at line 119 of file LaserRangeFinder.h.

◆ a_min_

double geo::LaserRangeFinder::a_min_

protected

Definition at line 119 of file LaserRangeFinder.h.

◆ angle_incr_

double geo::LaserRangeFinder::angle_incr_

protected

Definition at line 129 of file LaserRangeFinder.h.

◆ angles_

std::vector<double> geo::LaserRangeFinder::angles_

protected

Definition at line 125 of file LaserRangeFinder.h.

◆ i_half_circle_

uint geo::LaserRangeFinder::i_half_circle_

protected

Definition at line 132 of file LaserRangeFinder.h.

◆ num_beams_

uint geo::LaserRangeFinder::num_beams_

protected

Definition at line 123 of file LaserRangeFinder.h.

◆ range_max_

double geo::LaserRangeFinder::range_max_

protected

Definition at line 121 of file LaserRangeFinder.h.

◆ range_min_

double geo::LaserRangeFinder::range_min_

protected

Definition at line 121 of file LaserRangeFinder.h.

◆ ray_dirs_

std::vector<geo::Vector3> geo::LaserRangeFinder::ray_dirs_

protected

Definition at line 127 of file LaserRangeFinder.h.

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

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LaserRangeFinder()

◆ ~LaserRangeFinder()

Member Function Documentation

◆ calculateRays()

◆ getAngleIncrement()

◆ getAngleMax()

◆ getAngleMin()

◆ getAngles()

◆ getAngleUpperIndex() [1/2]

◆ getAngleUpperIndex() [2/2]

◆ getAngleUpperIndexRaw() [1/2]

◆ getAngleUpperIndexRaw() [2/2]

◆ getNumBeams()

◆ getRangeMax()

◆ getRangeMin()

◆ getRayDirection()

◆ polarTo2D()

◆ polarTo3D()

◆ rangesToPoints()

◆ rangeToPoint()

◆ rayDirections()

◆ render() [1/2]

◆ render() [2/2]

◆ renderLine()

◆ setAngleLimits()

◆ setNumBeams()

◆ setRangeLimits()

Member Data Documentation

◆ a_max_

◆ a_min_

◆ angle_incr_

◆ angles_

◆ i_half_circle_

◆ num_beams_

◆ range_max_

◆ range_min_

◆ ray_dirs_