RDK2::SensorData::LaserData Struct Reference

#include <laserdata.h>

Inheritance diagram for RDK2::SensorData::LaserData:

[legend]

Collaboration diagram for RDK2::SensorData::LaserData:

[legend]

Detailed Description

Note:: Laser data points (beams) are expected to be equally distantiated.

Definition at line 36 of file laserdata.h.


Public Types
typedef std::vector< LaserPoint >	LaserPoints
Public Member Functions
	LaserData ()
	Constructor.
void	mm2m ()
	Converts all internal measures from mm to meters.
void	setLaserRollPitchYaw (double roll=0, double pitch=0, double yaw=0)
	Sets the Roll (angle around z axis), Pitch (angle around y axis), Yaw (angle around x axis) angles of the laser range scanner sensor in the case is mounted on a Tilt Joint.
double	getLaserRoll ()
	Returns the Roll angle of the laser range scanner sensor Rotation around the vertical axis (z) is called roll.
double	getLaserPitch ()
	Returns the Pitch angle of the laser range scanner sensor. Rotation around the side-to-side (y) axis is called pitch.
double	getLaserYaw ()
	Returns the Yaw angle of the laser range scanner sensor Rotation around the bottom to front axis (x) is called yaw.
int	getNearestIndex (double theta) const
	Returns the index of the ray that is nearest to `theta`. Returns the index of the ray that is nearest to `theta`, that is, $round(\frac{\theta - \theta_{min}}{d})$ in which $d = \frac{\theta_{max} - \theta_{min}}{n_{points} - 1}$ .
double	getRayWidth () const
	Returns the distance between two rays (supposed to be the same for each ray). Returns the distance between two rays (supposed to be the same for each ray), that is, $\frac{\theta_{max} - \theta_{min}}{n_{points} - 1}$ .
void	updateThetas ()
	Update the `theta` value of all laser points Update the `theta` value of all laser points, according to $\theta_{min}$ , $\theta_{max}$ and the number of points.
double	minRange () const
	Returns minimum range (values of 0 are ignored).
int	getMinAngle ()
bool	raysEqualTo (const LaserData &ld)
	True if same rays.
int	numValidPoints () const
	Number of points with reading != 0.
bool	isInsideClearArea (RDK2::Geometry::Point2d world) const
	Returns true if the point is in the clear area swept by the laser.
RDK2::Geometry::DMatrixD	getFisherForXY ()
	Returns the (unscaled) 2x2 Fisher's information matrix for (x,y).
double	getFisherForTheta ()
	Returns the (unscaled) 1x1 Fisher's information matrix for theta.
RDK2::Geometry::DMatrixD	getFisher ()
	Returns the (unscaled) 3x3 Fisher's information matrix for (x,y,theta).
RDK2::Geometry::DMatrixD	getFisher (double sigma)
	Returns the information matrix properly scaled by sigma.
RDK2::Geometry::DMatrixD	getCRB (double sigma) throw (RDK2::Geometry::DNotInvertibleMatrixException)
	Trhows if Fisher's matrix is singular (under constrained situation).
void	copy (const LaserData &)
Parser *	getParser () const
Data Fields
RDK2::Geometry::Point3od	laserPose
	Position of laser relative to robot.
double	minReading
	Minimum and maximum sensor range. Points above and below are invalid.
double	maxReading
double	minTheta
	Span of data. Probably minTheta=-PI/2, maxTheta=+PI/2.
double	maxTheta
double	roll
	Roll angle of robot position.
double	pitch
	Pitch angle of robot position.
double	laserPan
LaserPoints	points
Static Public Attributes
static LaserParser	laserParser
Data Structures
struct	LaserPoint

Member Typedef Documentation

typedef std::vector<LaserPoint> RDK2::SensorData::LaserData::LaserPoints

Definition at line 90 of file laserdata.h.

Constructor & Destructor Documentation

RDK2::SensorData::LaserData::LaserData ( ) [inline]

Constructor.

Definition at line 94 of file laserdata.h.

References maxReading, maxTheta, minReading, and minTheta.

Member Function Documentation

void RDK2::SensorData::LaserData::mm2m ( )

Converts all internal measures from mm to meters.

Deprecated:

Definition at line 142 of file laserdata.cpp.

References RDK2::SensorData::BaseSensorData::estimatedPose, laserPose, maxReading, minReading, RDK2::Geometry::mm2m(), RDK2::SensorData::BaseSensorData::odometryPose, and points.

Here is the call graph for this function:

void RDK2::SensorData::LaserData::setLaserRollPitchYaw	(	double	roll = `0`,
		double	pitch = `0`,
		double	yaw = `0`
	)			`[inline]`

Sets the Roll (angle around z axis), Pitch (angle around y axis), Yaw (angle around x axis) angles of the laser range scanner sensor in the case is mounted on a Tilt Joint.

Definition at line 111 of file laserdata.h.

References RDK2::Geometry::Point3o< Numeric >::gamma, laserPose, RDK2::Geometry::Point3o< Numeric >::phi, pitch, roll, and RDK2::Geometry::Point2o< Numeric >::theta.

double RDK2::SensorData::LaserData::getLaserRoll ( ) [inline]

Returns the Roll angle of the laser range scanner sensor Rotation around the vertical axis (z) is called roll.

Definition at line 116 of file laserdata.h.

References laserPose, and RDK2::Geometry::Point2o< Numeric >::theta.

double RDK2::SensorData::LaserData::getLaserPitch ( ) [inline]

Returns the Pitch angle of the laser range scanner sensor. Rotation around the side-to-side (y) axis is called pitch.

Definition at line 121 of file laserdata.h.

References laserPose, and RDK2::Geometry::Point3o< Numeric >::phi.

double RDK2::SensorData::LaserData::getLaserYaw ( ) [inline]

Returns the Yaw angle of the laser range scanner sensor Rotation around the bottom to front axis (x) is called yaw.

Definition at line 126 of file laserdata.h.

References RDK2::Geometry::Point3o< Numeric >::gamma, and laserPose.

int RDK2::SensorData::LaserData::getNearestIndex ( double theta ) const [inline]

Returns the index of the ray that is nearest to theta. Returns the index of the ray that is nearest to theta, that is, $round(\frac{\theta - \theta_{min}}{d})$ in which $d = \frac{\theta_{max} - \theta_{min}}{n_{points} - 1}$ .

Parameters:

theta

the angle for which the index is computed.

Returns:: the index of the LaserPoint that is nearest to theta.

Warning:: the index can be outside the limits of the points vector.

Definition at line 137 of file laserdata.h.

References getRayWidth(), and minTheta.

Referenced by RDK2::SensorData::LaserDataTracker::update().

Here is the call graph for this function:

double RDK2::SensorData::LaserData::getRayWidth ( ) const [inline]

Returns the distance between two rays (supposed to be the same for each ray). Returns the distance between two rays (supposed to be the same for each ray), that is, $\frac{\theta_{max} - \theta_{min}}{n_{points} - 1}$ .

Returns:: the distance between two rays.

Definition at line 145 of file laserdata.h.

References maxTheta, minTheta, and points.

Referenced by getNearestIndex(), RDK2::SensorData::LaserDataTracker::update(), and updateThetas().

void RDK2::SensorData::LaserData::updateThetas ( )

Update the theta value of all laser points Update the theta value of all laser points, according to $\theta_{min}$ , $\theta_{max}$ and the number of points.

Definition at line 52 of file laserdata.cpp.

References getRayWidth(), minTheta, and points.

Referenced by RDK2::SensorData::LaserDataTracker::update().

Here is the call graph for this function:

double RDK2::SensorData::LaserData::minRange ( ) const

Returns minimum range (values of 0 are ignored).

Definition at line 91 of file laserdata.cpp.

References RDK2::Geometry::min(), and points.

Here is the call graph for this function:

int RDK2::SensorData::LaserData::getMinAngle ( )

Definition at line 102 of file laserdata.cpp.

References points.

bool RDK2::SensorData::LaserData::raysEqualTo ( const LaserData & ld )

True if same rays.

Definition at line 65 of file laserdata.cpp.

References points.

int RDK2::SensorData::LaserData::numValidPoints ( ) const

Number of points with reading != 0.

Definition at line 58 of file laserdata.cpp.

References points.

bool RDK2::SensorData::LaserData::isInsideClearArea ( RDK2::Geometry::Point2d world ) const

Returns true if the point is in the clear area swept by the laser.

Definition at line 77 of file laserdata.cpp.

References RDK2::Geometry::Point2< Numeric >::abs(), RDK2::SensorData::BaseSensorData::estimatedPose, laserPose, maxTheta, minReading, minTheta, RDK2::Geometry::norm2PIX(), points, RDK2::Geometry::Point2< Numeric >::theta(), and RDK2::Geometry::Point2o< Numeric >::theta.

Here is the call graph for this function:

DMatrixD RDK2::SensorData::LaserData::getFisherForXY ( )

Returns the (unscaled) 2x2 Fisher's information matrix for (x,y).

These function need to know the orientation in space of the scan: for this it uses the "estimate" field; You need to multiply these matrices by $\frac{1}{\sigma^2}$ to get the actual Fisher's matrix.

Definition at line 27 of file laserdata_fisher.cpp.

References RDK2::Geometry::DMatrix< X >::el(), RDK2::SensorData::BaseSensorData::estimatedPose, points, RDK2::Geometry::DMatrix< X >::setAll(), RDK2::Geometry::square(), and RDK2::Geometry::Point2o< Numeric >::theta.

Referenced by getFisher().

Here is the call graph for this function:

double RDK2::SensorData::LaserData::getFisherForTheta ( )

Returns the (unscaled) 1x1 Fisher's information matrix for theta.

Definition at line 52 of file laserdata_fisher.cpp.

References RDK2::SensorData::BaseSensorData::estimatedPose, points, RDK2::Geometry::square(), and RDK2::Geometry::Point2o< Numeric >::theta.

Referenced by getFisher().

Here is the call graph for this function:

DMatrixD RDK2::SensorData::LaserData::getFisher ( )

Returns the (unscaled) 3x3 Fisher's information matrix for (x,y,theta).

Definition at line 65 of file laserdata_fisher.cpp.

References RDK2::Geometry::DMatrix< X >::el(), RDK2::SensorData::BaseSensorData::estimatedPose, getFisherForTheta(), getFisherForXY(), points, RDK2::Geometry::DMatrix< X >::setAll(), and RDK2::Geometry::Point2o< Numeric >::theta.

Referenced by getCRB(), and getFisher().

Here is the call graph for this function:

RDK2::Geometry::DMatrixD RDK2::SensorData::LaserData::getFisher ( double sigma ) [inline]

Returns the information matrix properly scaled by sigma.

Definition at line 185 of file laserdata.h.

References getFisher().

Here is the call graph for this function:

RDK2::Geometry::DMatrixD RDK2::SensorData::LaserData::getCRB ( double sigma ) throw (RDK2::Geometry::DNotInvertibleMatrixException) [inline]

Trhows if Fisher's matrix is singular (under constrained situation).

Definition at line 190 of file laserdata.h.

References getFisher(), and RDK2::Geometry::DMatrix< X >::inv().

Here is the call graph for this function:

void RDK2::SensorData::LaserData::copy ( const LaserData & l )

Housekeeping Explicit copy operation: in the past there have been some Strange Things going on with the default copy-constructors, even though this class is very simple.

Definition at line 117 of file laserdata.cpp.