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Public Member Functions |
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| laserscan (int n=MAX_N_SCAN_POINTS) |
| | Constructor.
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| ~laserscan () |
| | Destructor.
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int | copy (const laserscan &rhs) |
| | Copy method that assumes identical object sizes.
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int | initialize () |
| | Initialize laserscan object.
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void | dummy_init_from_parameters (double maxr, double mina, double reso, double fov) |
| | Dummy-init method to avoid presence of real sensor.
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void | set_name (char *name) |
| | Set scan name.
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char * | get_name () |
| | Get scan name.
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void | set_timestamp (double t) |
| | Set scan timestamp.
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double | get_timestamp () const |
| | Get scan timestamp.
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int | is_initialized () const |
| | Test if scan object is initialized.
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int | is_listening () const |
| | Test streaming scans is enabled.
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int | get_scan (int freq, carmen_laser_laser_message *laser) const |
| | Get and copy scan.
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int | get_len () const |
| | Get scan length (= number of points).
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int | get_freq () const |
| | Get IPC-await-frequency.
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int | get_sensor_config (double &min_a, double &a_reso, double &a_fov, double &max_r) const |
| | Get sensor configuration: min_angle, angular_reso, angular_fov, max_range.
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int | set_reading (int i, double phi, double rho, double x, double y, double rem) |
| | Set reading i.
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int | get_reading (int i, double &phi, double &rho, double &x, double &y, double &rem) const |
| | Get reading i.
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void | get_data_polar (double *&phi, double *&rho) const |
| | Get pointer to polar-data vector.
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void | get_data_cart (double *&x, double *&y) const |
| | Get pointer to x,y-data vector.
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int | mark_reading (int i, int id) |
| | Mark reading i with value id.
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void | get_markings (int *&m) const |
| | Get pointer to vector of markings.
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void | start_acquisition () |
| | Start streaming of scans.
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void | stop_acquisition () |
| | Stop streaming of scans.
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void | print () |
| | Print scan object with current data to shell.
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Private Attributes |
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char * | name |
| | Name of the scan.
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double | timestamp |
| | Scan timestamp.
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int | initialized |
| | Flag indicating of scan object is initialized.
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int | listening |
| | Flag indicating of scan object is listening over IPC.
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int | len |
| | Scan lenght, i.e. number of range readings.
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double | min_angle |
| | Minimal angle in scan.
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double | angular_reso |
| | Angular scan resolution.
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double | angular_fov |
| | Angular field of view.
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double | max_range |
| | Maximal range value.
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double * | phi |
| | scan data: array of phi values (polar coordinates)
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double * | rho |
| | scan data: array of rho values (polar coordinates)
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double * | x |
| | scan data: array of x values (Cartesian coordinates)
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double * | y |
| | scan data: array of y values (Cartesian coordinates)
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double * | rem |
| | scan data: array of reminiscence values (i.e. signal strength). Must be enabled in driver.
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int * | mark |
| | array of integers for each reading, used for marking a reading
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