#include <ulaserdataset.h>

Public Member Functions
double	getAngle ()

double	getDistance (int set=0)

int	getFlag ()

UPosition	getPosition (UPosition laserPos, double cosLaserTilt, int set=0)

UPosition	getPosition (UMatrix4 *movLtoR, int set=0)

int	getRangeCnt ()

double	getSdL ()

double	getTilt ()

double	getVarL ()

bool	isValid (int set=0)

void	print (char *preString)

bool	setFromTag (USmlTag *tag)

void	setValue (double ang, unsigned char lsb, unsigned char msb, double measurementUnits)

void	setValue (double ang, int set, int rng)

	UClientLaserData ()

Private Attributes
double	angle

int	flag

double	range [5]

int	rangeCnt

double	tilt

double	varL

Detailed Description

Class to hold one measurement of a laser scan

Constructor & Destructor Documentation

UClientLaserData::UClientLaserData ( )

Constructor

References flag, and rangeCnt.

Member Function Documentation

double UClientLaserData::getAngle ( )

inline

Set values from tag data Get measurement angle

References angle.

Referenced by getPosition(), and ULaserDataSet::print().

double UClientLaserData::getDistance ( int set = 0 )

inline

Get measured distance

References range.

Referenced by getPosition(), UPaintLaserScan::makeScanCloud(), UNavPaint::paintHistScan(), and UNavPaint::paintScanNewest().

int UClientLaserData::getFlag ( )

inline

Is measurement dazzeled (measurement is not valid)

References flag.

Referenced by UNavPaint::paintHistScan().

UPosition UClientLaserData::getPosition	(	UPosition	laserPos,
		double	cosLaserTilt,
		int	set = `0`
	)

Get position as 3D relative to robot, when laser is positioned at laserPos - assuming same orientation

References getAngle(), getDistance(), UPosition::x, and UPosition::y.

Referenced by getTilt(), UPaintLaserScan::makeScanCloud(), UNavPaint::paintHistScan(), and UNavPaint::paintScanNewest().

UPosition UClientLaserData::getPosition	(	UMatrix4 *	movLtoR,
		int	set = `0`
	)

Get position in robot coordinates using full pose set

References getAngle(), getDistance(), UPosition::x, UPosition::y, and UPosition::z.

int UClientLaserData::getRangeCnt ( )

inline

get number of measdurements at this angle

References rangeCnt.

Referenced by UNavPaint::paintHistScan(), and UNavPaint::paintScanNewest().

double UClientLaserData::getSdL ( )

inline

Get measurement deviation to the left

References varL.

double UClientLaserData::getTilt ( )

inline

Get measurement variance to the right

References getPosition(), print(), setFromTag(), and tilt.

double UClientLaserData::getVarL ( )

inline

Get measurement variance to the left

References varL.

bool UClientLaserData::isValid ( int set = 0 )

inline

Is measurement valid

References range, and rangeCnt.

Referenced by UPaintLaserScan::makeScanCloud(), UNavPaint::paintHistScan(), UNavPaint::paintScanNewest(), and print().

void UClientLaserData::print ( char * preString )

Print values of this measurement

References angle, bool2str(), isValid(), and range.

Referenced by ULaserDataSet::getLaserTilt(), getTilt(), and ULaserDataSet::print().

bool UClientLaserData::setFromTag ( USmlTag * tag )

Set values from a message tag

Returns: true if set

References angle, flag, USmlTagIn::getNextAttribute(), MAX_SML_NAME_LENGTH, range, rangeCnt, tilt, and varL.

Referenced by getTilt(), and UResLaserIfScan::handleLaserScan().

void UClientLaserData::setValue	(	double	ang,
		unsigned char	lsb,
		unsigned char	msb,
		double	measurementUnits
	)

Set values from 2-byte data

References angle, flag, range, and rangeCnt.

Referenced by UResLaserIfScan::handleLaserScan().

void UClientLaserData::setValue	(	double	ang,
		int	set,
		int	rng
	)

Set values from LIST structure

Parameters

ang	is angle in degrees (used for set 0 only)
set	is number of range set - must be loaded in set order, as set 0 will reset the measurement at this angle. NB! no limit test for set - must be within [0..4].
rng	is range measurement in mm

References angle, range, and rangeCnt.