Scan Class Reference
Collaboration diagram for Scan:

List of all members.

Public Member Functions

 Scan (double max_range, double laser_x, double laser_y, double laser_angle, double laser_noise_range, double laser_noise_bearing)
 Provide laser parameters: maximum range and its pose on top of robot, and noise model.
const Uloculoc (const int i) const
void SetLaserPose (double x, double y, double a)
 Update laser pose.
void SetLastScan (const DoublesVector &ranges, const DoublesVector &bearings)
 Set last laser reading Removes out of range values and attaches the uncertainty model.
int ScanCount (void) const
double phi (const int i) const
double rho (const int i) const

Public Attributes

const double kOutOfRange_
const double kLaserNoiseRange_
const double kLaserNoiseBearing_

Private Member Functions

Uloc AttachReferenceToScanPoint (double rho, double phi)
void addUloc (Uloc u)

Private Attributes

vector< Uloculocs_
DoublesVector rho_
DoublesVector phi_
Transf xform_laser_to_robot_

Constructor & Destructor Documentation

Scan::Scan ( double  max_range,
double  laser_x,
double  laser_y,
double  laser_angle,
double  laser_noise_range,
double  laser_noise_bearing 
)

Provide laser parameters: maximum range and its pose on top of robot, and noise model.


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