ULaserPoint Class Reference

#include <ulaserpoint.h>

Public Member Functions
UPassQual	getQ ()
bool	isValid ()
void	setPosRA (double range, double angle, double laserTilt, double sensorHeight, bool rngValid)
void	setPosXYZ (double x, double y, double z, double rng, bool rngValid)
void	setQ (UPassQual value)
	ULaserPoint ()
	~ULaserPoint ()

Public Attributes
double	distLeft
double	distLeftPkt
double	distRight
double	distRightPkt
UPassQual	passQ
UPosition	pos
double	range
bool	rangeValid
double	tilt
double	varL
U2Dline	varLine
int	varToL

Detailed Description

Class that holds one laser scanner measurement point and the classification category

Constructor & Destructor Documentation

ULaserPoint::ULaserPoint

(

)

Constructor

References passQ, and PQ_NOT.

ULaserPoint::~ULaserPoint

(

)

Constructor

Member Function Documentation

UPassQual ULaserPoint::getQ ( )

inline

Get passable quality - one of PQ_EASY, PQ_ROUGH, PQ_NOT, ...

References passQ.

Referenced by ULaserScan::findNearObstacles(), and ULaserScan::getQ().

bool ULaserPoint::isValid ( )

inline

Is the laser range valid - i.e. not dazzeled and not morrored too far away

Referenced by ULaserScan::countValidPoints(), ULaserObst::findEdgeObstacle(), ULaserScan::findNearObstacles(), UResPassable::makePassableIntervals2(), and ULaserScan::setVariance().

void ULaserPoint::setPosRA	(	double	range,
		double	angle,
		double	laserTilt,
		double	sensorHeight,
		bool	rngValid
	)

Set laser point from basic information. angle is in radians and 0.0 is forward, and positive is CCV. LaserTilt is in radians and negative value relative to horizontal. range is in meter, sensor height in meter. Sets set position relative to sensor position but adjusted using sensor tilt (Phi - around Y-axis) and height only.

References pos, range, rangeValid, and UPosition::set().

Referenced by setPosXYZ().

void ULaserPoint::setPosXYZ ( double  x, double  y, double  z, double  rng, bool  rngValid  )

inline

Set measurement in known koordinates.

References pos, range, rangeValid, UPosition::set(), and setPosRA().

void ULaserPoint::setQ ( UPassQual  value )

inline

Set passable quality - one of PQ_EASY, PQ_ROUGH, PQ_NOT ...

References passQ.

Referenced by UResPassable::findTopOfRoad(), and ULaserScan::setQ().

Member Data Documentation

double ULaserPoint::distLeft

Signed distance from fittet line of (last valid) left-most position (varToL)

Referenced by UResPassable::makePassableIntervals2(), and ULaserScan::setVariance().

double ULaserPoint::distLeftPkt

distance between last two points in interval on the left side

Referenced by ULaserScan::setVariance().

double ULaserPoint::distRight

Signed distance from fittet line of (last valid) right-most position (this)

Referenced by UResPassable::makePassableIntervals2(), and ULaserScan::setVariance().

double ULaserPoint::distRightPkt

Distance between this point and the previous (to the right)

Referenced by ULaserScan::setVariance().

UPassQual ULaserPoint::passQ

Passage quality

Referenced by ULaserObst::findEdgeObstacle(), getQ(), UFunctionPassable::sendFullScan(), setQ(), and ULaserPoint().

UPosition ULaserPoint::pos

3D laser measurement point

Referenced by ULaserObst::findEdgeObstacle(), ULaserScan::getLineSegmentFit(), ULaserScan::getPos(), UResPassable::makePassableIntervals2(), UFunctionPassable::sendFullScan(), setPosRA(), setPosXYZ(), and ULaserScan::setVariance().

double ULaserPoint::range

Original laser range

Referenced by ULaserScan::findNearObstacles(), ULaserScan::getLineSegmentFit(), ULaserScan::getRange(), UFunctionPassable::sendFullScan(), setPosRA(), setPosXYZ(), and ULaserScan::setVariance().

bool ULaserPoint::rangeValid

Is range measurement valid

Referenced by setPosRA(), and setPosXYZ().

double ULaserPoint::tilt

Curve tilt in degrees, set from edge points. NB! set from peacewise line fit, and line-fit is not valid close top 90 deg.

Referenced by UResPassable::makePassableIntervals2(), UFunctionPassable::sendFullScan(), and ULaserScan::setVariance().

double ULaserPoint::varL

Variance in left neighborhood

Referenced by UResPassable::findTopOfRoad(), ULaserScan::getVarLeft(), ULaserScan::getVarRight(), UResPassable::makePassableIntervals2(), UFunctionPassable::sendFullScan(), and ULaserScan::setVariance().

U2Dline ULaserPoint::varLine

Variance around here (fixed mask) Line fit for points to and including 'varToL'

Referenced by ULaserScan::setVariance().

int ULaserPoint::varToL

variance is calculated to this right point (max-min range measurements are not used)

Referenced by ULaserScan::getRight(), ULaserScan::getVarRight(), UResPassable::makePassableIntervals2(), and ULaserScan::setVariance().

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

• ulaserpoint.h
• ulaserpoint.cpp