Scan Class Reference

Collaboration diagram for Scan:

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. More...
const Uloc &	uloc (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< Uloc >	ulocs_
DoublesVector	rho_
DoublesVector	phi_
Transf	xform_laser_to_robot_

Constructor & Destructor Documentation

Scan()

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.

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

• scan.hh
• scan.cc