#include <ulaserdataset.h>

Public Member Functions
void	addPassableInterval (UClientLaserPi *passableInterval)

void	addPassableInterval (ULaserPi *passableInterval)

void	addPiSeg (ULineSegment *seg, double centerPos)

void	clear ()

void	clear ()

int	getCount ()

int	getCount ()

UClientLaserData *	getData ()

ULaserData *	getData ()

double	getLaserTilt ()

double	getLaserTilt ()

double	getMaxValidRange ()

UClientLaserPi *	getPis ()

ULaserPi *	getPis ()

int	getPisCnt ()

int	getPisCnt ()

UPose	getPose ()

UPose	getPose ()

UTime	getScanTime ()

UTime	getScanTime ()

UPosRot *	getSensorPose ()

UPosRot *	getSensorPose ()

unsigned int	getSerial ()

unsigned int	getSerial ()

UTime	getTime ()

UTime	getTime ()

bool	isStatValid ()

bool	isStatValid ()

void	print (char *preString, bool verbose)

void	print (const char *preString, bool verbose)

void	setData (unsigned int serial, int firstVal, int dataInterval, int dataCount, UTime time, double measurementUnit, bool statDataValid, double statWindowWidth, double laserTilt, double validRange)

void	setData (unsigned int serial, int firstVal, int dataInterval, int dataCount, UTime time, double measurementUnit, bool statDataValid, double statWindowWidth, double laserTilt)

void	setPose (UPose pose)

void	setPose (UPose pose)

	ULaserDataSet ()

	ULaserDataSet ()

	~ULaserDataSet ()

	~ULaserDataSet ()

Private Attributes
int	count

UClientLaserData	data [MAX_DATA_COUNT]

ULaserData	data [MAX_DATA_COUNT]

UTime	dataTime

int	first

int	interval

double	laserTilt

double	maxValidRange

UPose	odoPose

bool	odoValid

UClientLaserPi	pis [MAX_PIS_COUNT]

ULaserPi	pis [MAX_PIS_COUNT]

int	pisCnt

unsigned long	scanSerial

UPosRot	sensorPose

bool	statValid

double	statWidth

double	unit

Static Private Attributes
static const int	MAX_PISEG_COUNT = 15

Detailed Description

Holds a set of laser data

Author: Christian Andersen

Constructor & Destructor Documentation

ULaserDataSet::ULaserDataSet ( )

Construcor

References ULaserData::clear().

Referenced by UClientLaserPi::setFromTag().

ULaserDataSet::~ULaserDataSet ( )

' Destructor

Referenced by UClientLaserPi::setFromTag().

ULaserDataSet::ULaserDataSet ( )

Construcor

ULaserDataSet::~ULaserDataSet ( )

' Destructor

Member Function Documentation

void ULaserDataSet::addPassableInterval ( UClientLaserPi * passableInterval )

Add a determined passable control interval - used by MMRD only (deprecated)

References MAX_PIS_COUNT.

void ULaserDataSet::addPassableInterval ( ULaserPi * passableInterval )

Add a determined passable control interval

References MAX_PIS_COUNT.

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

void ULaserDataSet::addPiSeg	(	ULineSegment *	seg,
		double	centerPos
	)

Add a detected passable interval in this laserscan - including center position as a number of meter from start of segment

void ULaserDataSet::clear ( )

Clear laserscan

void ULaserDataSet::clear ( void )

Clear laserscan

Referenced by UResLaserIfScan::handleLaserScan(), UClientFuncLaser::handleLaserScan(), and UClientLaserPi::setFromTag().

int ULaserDataSet::getCount ( )

inline

Get count of measurements

int ULaserDataSet::getCount ( )

inline

Get count of measurements

Referenced by UClientFuncLaserGui::doImage(), UClientFuncLaserGui::doRepaint(), UPaintLaserScan::makeScanCloud(), UNavPaint::paintHistScan(), UClientFuncLaserGui::paintHistScan(), UNavPaint::paintScanNewest(), UNavPaint::paintScanStatData(), and UClientFuncLaserGui::paintScanStatData().

UClientLaserData* ULaserDataSet::getData ( )

inline

Get pointer to first data value

References data.

ULaserData* ULaserDataSet::getData ( )

inline

Get pointer to first data value

References data.

Referenced by UClientFuncLaserGui::doImage(), UClientFuncLaserGui::doRepaint(), UResLaserIfScan::handleLaserScan(), UClientFuncLaser::handleLaserScan(), UPaintLaserScan::makeScanCloud(), UNavPaint::paintHistScan(), UClientFuncLaserGui::paintHistScan(), UNavPaint::paintScanNewest(), UNavPaint::paintScanStatData(), and UClientFuncLaserGui::paintScanStatData().

double ULaserDataSet::getLaserTilt ( )

inline

References UClientLaserData::print().

double ULaserDataSet::getLaserTilt ( )

inline

References ULaserData::print().

Referenced by UNavPaint::paintScanStatData(), and UClientFuncLaserGui::paintScanStatData().

double ULaserDataSet::getMaxValidRange ( )

inline

Get max valid range

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

UClientLaserPi* ULaserDataSet::getPis ( )

inline

Get pointer to first passable interval

ULaserPi* ULaserDataSet::getPis ( )

inline

Get pointer to first passable interval

Referenced by UNavPaint::paintPis(), UClientFuncLaserGui::paintPis(), and UNavView::paintPis().

int ULaserDataSet::getPisCnt ( )

inline

Get number of available passable intervals

int ULaserDataSet::getPisCnt ( )

inline

Get number of available passable intervals

Referenced by UClientFuncLaserGui::doRepaint(), UNavPaint::paint(), UNavView::paint(), UNavPaint::paintPis(), UClientFuncLaserGui::paintPis(), and UNavView::paintPis().

UPose ULaserDataSet::getPose ( )

inline

Get pose of robot, when this scan were recorded

UPose ULaserDataSet::getPose ( )

inline

Get pose of robot, when this scan were recorded

Referenced by UClientFuncLaserGui::doRepaint(), UNavPaint::paintHistScan(), UClientFuncLaserGui::paintHistScan(), UClientFuncLaserGui::paintOdoData(), UClientFuncLaserGui::paintPostHistLine(), and UNavView::paintScansNewest().

UTime ULaserDataSet::getScanTime ( )

inline

Get scantime

UTime ULaserDataSet::getScanTime ( )

inline

Get scantime

Referenced by UClientFuncLaserGui::doRepaint(), UNavPaint::paint(), UNavPaint::paintHistScan(), and UNavView::paintScansNewest().

UPosRot* ULaserDataSet::getSensorPose ( )

inline

Get reference to sensor pose

UPosRot* ULaserDataSet::getSensorPose ( )

inline

Get reference to sensor pose

Referenced by UClientFuncLaserGui::doRepaint(), UResLaserIfScan::handleLaserScan(), UClientFuncLaser::handleLaserScan(), UPaintLaserScan::makeScanCloud(), UNavPaint::paint(), UNavView::paint(), UNavPaint::paintHistScan(), UClientFuncLaserGui::paintHistScan(), and UNavPaint::paintScanNewest().

unsigned int ULaserDataSet::getSerial ( )

inline

Get scan serial number

unsigned int ULaserDataSet::getSerial ( )

inline

Get scan serial number

Referenced by UClientFuncLaserGui::doImage(), UClientFuncLaserGui::doRepaint(), UResLaserIfScan::gotNewData(), UPaintLaserScan::makeScanCloud(), UNavPaint::paint(), UNavView::paint(), UNavView::paintScansNewest(), and UClientFuncLaserGui::saveImage().

UTime ULaserDataSet::getTime ( )

inline

Get dataset time

UTime ULaserDataSet::getTime ( )

inline

Get dataset time

Referenced by UClientFuncLaser::getLaserTime(), and UClientFuncLaserGui::saveImage().

bool ULaserDataSet::isStatValid ( )

inline

Is statistics data valid for the scan

bool ULaserDataSet::isStatValid ( )

inline

Is statistics data valid for the scan

Referenced by UClientFuncLaserGui::doRepaint(), UNavPaint::paint(), and UNavView::paint().

void ULaserDataSet::print	(	char *	preString,
		bool	verbose
	)

Print dataset if verbose, then also data values

References ULaserDataHistory::clear(), data, UClientLaserData::getAngle(), ULaserDataHistory::getNewScan(), MAX_STORED_LASER_SCANS, UClientLaserData::print(), ULaserDataHistory::ULaserDataHistory(), and ULaserDataHistory::~ULaserDataHistory().

void ULaserDataSet::print	(	const char *	preString,
		bool	verbose
	)

Print dataset if verbose, then also data values

References data, ULaserData::getAngle(), ULaserData::print(), and ULaserData::unit.

Referenced by UClientFuncLaser::gotNewData().

void ULaserDataSet::setData	(	unsigned int	serial,
		int	firstVal,
		int	dataInterval,
		int	dataCount,
		UTime	time,
		double	measurementUnit,
		bool	statDataValid,
		double	statWindowWidth,
		double	laserTilt,
		double	validRange
	)

Set static data

References setPose().

void ULaserDataSet::setData	(	unsigned int	serial,
		int	firstVal,
		int	dataInterval,
		int	dataCount,
		UTime	time,
		double	measurementUnit,
		bool	statDataValid,
		double	statWindowWidth,
		double	laserTilt
	)

Set static data

References ULaserData::serial, and ULaserData::unit.

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

void ULaserDataSet::setPose ( UPose pose )

Set odometry pose for this scan

void ULaserDataSet::setPose ( UPose pose )

Set odometry pose for this scan

Referenced by UResLaserIfScan::handleLaserScan(), UClientFuncLaser::handleLaserScan(), and setData().

Member Data Documentation

int ULaserDataSet::count

private

Number of valid data values

UClientLaserData ULaserDataSet::data[MAX_DATA_COUNT]

private

Data measurements

ULaserData ULaserDataSet::data[MAX_DATA_COUNT]

private

Data measurements

UTime ULaserDataSet::dataTime

private

Dataset time (at recetion from serial port

int ULaserDataSet::first

private

First data value in original dataset

int ULaserDataSet::interval

private

Interval valid measurements from original dataset

double ULaserDataSet::laserTilt

private

Laser tilt value in degrees (phi)

const int ULaserDataSet::MAX_PISEG_COUNT = 15

staticprivate

Max number of passable line segments for any scan

double ULaserDataSet::maxValidRange

private

Maximum valid range

UPose ULaserDataSet::odoPose

private

Pose at time of scan

bool ULaserDataSet::odoValid

private

Is odometry position valid

UClientLaserPi ULaserDataSet::pis[MAX_PIS_COUNT]

private

Passabel intervals in scan

ULaserPi ULaserDataSet::pis[MAX_PIS_COUNT]

private

Passabel intervals in scan

int ULaserDataSet::pisCnt

private

Number of used PIs

unsigned long ULaserDataSet::scanSerial

private

Scan serial number

UPosRot ULaserDataSet::sensorPose

private

Laser sensor pose (3D)

bool ULaserDataSet::statValid

private

Is laserscan statistics valid

double ULaserDataSet::statWidth

private

Width of statistics window

double ULaserDataSet::unit

private

Original data unit value (in meter)

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

Public Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation