RDK2::SensorData::LaserDataTracker Class Reference

#include <laserdatatracker.h>

Collaboration diagram for RDK2::SensorData::LaserDataTracker:

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Detailed Description

Definition at line 30 of file laserdatatracker.h.

Public Member Functions
void	reset ()
	Resets the object, you need to call update to have a valid object.
void	update (const LaserData &laserData, const Point2od &sensorPose)
	Updates the laser data structure according with laserData and robotPose.
const LaserData &	getLaserData () const
	Returns the tracked laser data.
Protected Attributes
LaserData	extLaserData
Point2od	lastSensorPose

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Member Function Documentation

void RDK2::SensorData::LaserDataTracker::reset

(

)

Resets the object, you need to call update to have a valid object.

Definition at line 27 of file laserdatatracker.cpp.

References extLaserData, and RDK2::SensorData::LaserData::points.

void RDK2::SensorData::LaserDataTracker::update	(	const LaserData &	laserData,
		const Point2od &	sensorPose
	)

Updates the laser data structure according with laserData and robotPose.

Parameters:

	laserData	the current laser data.
	robotPose	the pose of the sensor when laserData has been taken.

Definition at line 32 of file laserdatatracker.cpp.

References RDK2::Geometry::Point2< Numeric >::distTo(), extLaserData, RDK2::RAgent::for(), RDK2::SensorData::LaserData::getNearestIndex(), RDK2::SensorData::LaserData::getRayWidth(), lastSensorPose, RDK2::SensorData::LaserData::maxTheta, RDK2::SensorData::LaserData::minTheta, RDK2::SensorData::LaserData::points, RDK2::Geometry::Point2< Numeric >::rot(), RDK2::Geometry::Point2o< Numeric >::theta, RDK2::Geometry::Point2< Numeric >::thetaWith(), RDK2::SensorData::LaserData::updateThetas(), RDK2::Geometry::Point2< Numeric >::x, and RDK2::Geometry::Point2< Numeric >::y.

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const LaserData& RDK2::SensorData::LaserDataTracker::getLaserData

(

)

const [inline]

Returns the tracked laser data.

Definition at line 43 of file laserdatatracker.h.

References extLaserData.

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Field Documentation

LaserData RDK2::SensorData::LaserDataTracker::extLaserData [protected]

Definition at line 46 of file laserdatatracker.h.

Referenced by getLaserData(), reset(), and update().

Point2od RDK2::SensorData::LaserDataTracker::lastSensorPose [protected]

Definition at line 47 of file laserdatatracker.h.

Referenced by update().

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

• laserdatatracker.h
• laserdatatracker.cpp