#include <ulaserdataset.h>

Inheritance diagram for ULaserData:

Public Member Functions
bool	addMeasurement (ULaserMeasurement *source)

bool	addMeasurements (int count, double startAngle, double stride)

void	clear ()

void	copy (ULaserData *source)

U2Dpos	get2d (int index, int set=0)

double	getAngle ()

double	getAngleDeg (int index)

double	getAngleRad (int index)

double	getAngleResolutionDeg ()

double	getAngleResolutionRad ()

double	getAngleStart ()

double	getAngleStartRad ()

virtual const char *	getDataType ()

int	getDeviceNum ()

double	getDistance ()

UPose	getFakePose ()

UPoseTVQ	getFakePoseTime ()

int	getFlag ()

int *	getFlags (int index)

double	getMaxAngleDeg ()

double	getMaxValidRange ()

ULaserMeasurement *	getMeasurement (int idx)

double	getMeasurementAngleDeg (int index)

int	getMeasurementsCnt ()

int	getMeasurementSetCnt (int set)

int	getMeasurementSetsCnt ()

double	getMinAngleDeg ()

UPosition	getPosition (UPosition laserPos, double cosLaserTilt)

UPosition	getPosition (UMatrix4 *movLtoR)

int	getRangeCnt (int set=0)

double	getRangeMeter (int index, bool *rangeValid=NULL, int set=0)

double	getRangeMetre (int index, bool *rangeValid=NULL, int set=0)

int	getRangeRaw (int index, int set)

UTime	getScanTime ()

double	getSdL ()

unsigned long	getSerial ()

double	getTilt ()

int	getUnit ()

double	getVarL ()

bool	inZoneA ()

bool	inZoneB ()

bool	isDazzled ()

bool	isFake ()

bool	isMeasurementStructure ()

bool	isMirror ()

bool	isValid ()

void	print (char *prestring)

void	print (char *preString)

void	reInitMeasurements ()

bool	saveToLogFile (FILE *logfile)

void	setAngleResAndStart (double start, double res)

void	setDeviceNum (int value)

void	setFakeDataRad (double minAng, double maxAng, double resolution, double minRange, double maxRange, UPose sourcePose, UPosRot sensorPose, int fakeMode)

void	setFakePose (UPose pose)

bool	setFromTag (USmlTag *tag)

void	setMaxValidRange (double value)

void	setMeasurement (int idx, int set, int range)

void	setMirror (bool value)

void	setRangeCnt (int value)

void	setScanTime (UTime value)

void	setSerial (const unsigned long value)

void	setSimData (double minAng, double maxAng, double resolution, double minRange, double maxRange, UPose sourcePose, UPosRot sensorPose, int fake)

void	setUnit (int toUnit)

void	setValid (bool value)

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

void	setValue (double ang, double distance, bool inA, bool inB, bool inZ)

void	setValue (int idx, unsigned char lsb, unsigned char msb)

	ULaserData ()

	ULaserData ()

	~ULaserData ()

Public Member Functions inherited from UDataBase
bool	isA (const char *typeString)

virtual bool	isAlsoA (const char *typeString)

virtual void	snprint (const char preString, char buff, const int buffCnt)

	UDataBase ()

virtual	~UDataBase ()

Public Member Functions inherited from ULock
bool	lock ()

void	lockInit ()

void	post ()

bool	tryLock ()

bool	tryWait ()

	ULock ()

void	unlock ()

bool	wait ()

	~ULock ()

Protected Member Functions
int *	getRange (int index)

Protected Attributes
double	angleResolution

double	angleStart

int	device

bool	fake

UPoseV	fakePose

int	flags [MAX_RANGE_VALUES]

ULaserMeasurement **	laserMeasurement
	pointer array More...

int	laserMeasurementCnt
	size of pointer array - rangeCnt is number of used values More...

int	laserMeasurementMaxCnt
	size of pointer array - rangeCnt is number of used values More...

int	laserMeasurementSetCnt [5]
	number of (non-zero) measurements in each range bin More...

double	maxValidRange

int	range [MAX_RANGE_VALUES]

int	rangeCnt

UTime	scanTime

unsigned long	serial

int	unit

bool	useLaserMeasurementStructure

bool	valid

Private Attributes
double	angle

int	flag

double	range

double	tilt

double	varL

Detailed Description

Class to hold one measurement of a laser scan

Laser values in integer array, with flag support

Author: Christian Andersen

Constructor & Destructor Documentation

ULaserData::ULaserData ( )

Constructor

References flag.

Referenced by ULaserMeasurement::clear(), and UFakeMap::getPink().

ULaserData::ULaserData ( )

Constructor

ULaserData::~ULaserData ( )

Destructor

References bool2str(), print(), and ULaserMeasurement::rangeCnt.

Referenced by ULaserMeasurement::clear().

Member Function Documentation

bool ULaserData::addMeasurement ( ULaserMeasurement * source )

Add a measurement to the list of known measurements The source is copied - not just linked.

Returns: 0 (false) if failed

References ULaserMeasurement::angle, ULaserMeasurement::flags, ULaserMeasurement::intens, ULaserMeasurement::MAX_VALUES_PER_ANGLE, ULaserMeasurement::range, ULaserMeasurement::rangeCnt, and ULaserMeasurement::ULaserMeasurement().

Referenced by ULaserMeasurement::clear().

bool ULaserData::addMeasurements	(	int	count,
		double	startAngle,
		double	stride
	)

Allocate this number of measurements, and set angle values

Returns: 0 (false) if failed is number of measureements to add is first angle (in degrees relative to forward (positive is clockwise) is angle distance between measurements (in degrees)

References ULaserMeasurement::angle, and ULaserMeasurement::ULaserMeasurement().

Referenced by ULaserMeasurement::clear(), USickData::getDataTo(), ULms100::getDataTo(), ULms500::getDataTo(), UHokuyo::getDataTo(), UV360Scan::getScan(), and UReplayDevice::replayStep().

void ULaserData::clear ( void )

set all values to default in old structure format (not measurement) but allocated memory for measurements are not cleared, just count, not maxCount

References ULaserMeasurement::rangeCnt.

Referenced by ULaserMeasurement::clear(), USick::getNewestData(), ULaserPi::setFromTag(), UPlannerValue::setFromTag(), ULaserDataSet::ULaserDataSet(), and UPlannerValue::UPlannerValue().

void ULaserData::copy ( ULaserData * source )

U2Dpos ULaserData::get2d	(	int	index,
		int	set = `0`
	)

Get range measurement as x,y coordinate in laser scanner coordinates.

Parameters

int	index to measurement (up to getRangeCnt() - 1)
set	is dataset number if more than one range per angle (0..4) x,y in metre, or 0,0 if not a valid measurement.

References a, U2Dpos::clear(), ULaserMeasurement::range, ULaserMeasurement::rangeCnt, U2Dpos::x, and U2Dpos::y.

Referenced by ULaserMeasurement::clear(), and UNamedBox::doDetect().

double ULaserData::getAngle ( )

inline

Get measurement angle

References angle.

Referenced by UClientFuncLaserGui::doImage(), getPosition(), UClientFuncLaserGui::paintScanStatData(), and ULaserDataSet::print().

double ULaserData::getAngleDeg ( int index )

inline

Get angle for this measurement. NB! no range check for index. Returns angle in degrees, 0 is front, left is positive.

Referenced by Funcavoid::findHuller(), Funcavoid::findSpring(), handlePeopleDetection(), and UFunctionLaser::sendScan().

double ULaserData::getAngleRad ( int index )

inline

Get angle for this measurement in radians. NB! no range check for index. Returns angle in radians, 0 is front, left is positive.

Referenced by Funcavoid::direkte(), UFuncRoseBot::handleCommand(), UFuncLobst::handleCommand(), UFuncLocalize::handleLocalize(), UFuncLocalize::handleLocalizeMHF(), UFuncLocalize::handleLocalizeUKF(), UResLobst::makeObst(), UResLocater::retrieveData(), ULaserScan::setScan(), UResAuEf::toCartesian(), and UV360Scan::update().

double ULaserData::getAngleResolutionDeg ( )

inline

Get resolution angle (in degrees). If scanner is mounted upside down then the start angle is positive, and the resolution negative.

Referenced by ULaserMeasurement::clear(), copy(), USickData::getDataTo(), and UFunctionLaser::sendScan().

double ULaserData::getAngleResolutionRad ( )

inline

Get resolution angle (in radians) Resolution is the angular interval between measurements. If scanner is mounted upside down then the start angle is positive, and the resolution negative.

Referenced by UV360Scan::update().

double ULaserData::getAngleStart ( )

inline

Get start angle (in degrees, center is 0, right is negative). If scanner is mounted upside down then the start angle is positive, and the resolution negative.

Referenced by ULaserMeasurement::clear(), copy(), USickData::getDataTo(), and ULaserScan::setScan().

double ULaserData::getAngleStartRad ( )

inline

Get start angle (in radians, center is 0, left is positive). If scanner is mounted upside down then the start angle is positive, and the resolution negative.

Referenced by UV360Scan::update().

virtual const char* ULaserData::getDataType ( )

inlinevirtual

Get (end) type of this structure

Reimplemented from UDataBase.

int ULaserData::getDeviceNum ( )

inline

Get device number for source device

References device.

Referenced by UResV360::callGotNewDataWithObject(), ULaserMeasurement::clear(), copy(), UFuncLaserBase::getScan(), ULaserPool::getScan(), UFunctionPassable::handlePass(), UFunctionLaser::handleScanGetCommand(), and UResV360::update().

double ULaserData::getDistance ( )

inline

Get measured distance

References range.

Referenced by UClientFuncLaserGui::doImage(), getPosition(), and UClientFuncLaserGui::paintHistScan().

UPose ULaserData::getFakePose ( )

inline

Get faked pose - only valid if the data actually is faked, and the fake method uses a pose to generate the data

Referenced by ULaserMeasurement::clear(), copy(), UFuncEfLine::getCurrentOdoPose(), UFunctionPassable::handlePass(), UFunctionLaser::sendScan(), and UResV360::update().

UPoseTVQ ULaserData::getFakePoseTime ( )

inline

Get faked pose - only valid if the data actually is faked, and the fake method uses a pose to generate the data

References UPoseTVQ::q, UPoseTVQ::set(), and UPoseTime::t.

Referenced by UFunctionLaser::handleScanGetCommand().

int ULaserData::getFlag ( )

inline

Is measurement dazzeled (measurement is not valid)

References flag.

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

int* ULaserData::getFlags ( int index )

inline

Get pointer to measurement flag values with this index. NB! no range test for index (or value)

Referenced by ULaserMeasurement::clear(), copy(), USickData::getDataTo(), ULms100::getDataTo(), UV360Scan::getScan(), UReplayDevice::replayStep(), and UFunctionLaser::sendScan().

double ULaserData::getMaxAngleDeg ( )

Get maximum (leftmost) angle

References maxd(), and ULaserMeasurement::rangeCnt.

Referenced by ULaserMeasurement::clear().

double ULaserData::getMaxValidRange ( )

inline

Set the maximum (valid) sensor range for sensor data

Referenced by ULaserMeasurement::clear(), copy(), UResPassable::doFullAnalysis(), UResPassable::doObstAnalysis(), UFuncLobst::handleCommand(), UResLocater::locate(), UFunctionLaser::sendScan(), ULaserScan::setScan(), and UV360Scan::update().

ULaserMeasurement * ULaserData::getMeasurement ( int idx )

het laser measurement structure with this index

Parameters

idx	id element to get - in received order

Returns: pointer to element

Referenced by ULaserMeasurement::clear(), and copy().

double ULaserData::getMeasurementAngleDeg ( int index )

Get angle of this measurement

Parameters

index is measurement number.

Returns: value in degrees

References ULaserMeasurement::angle.

Referenced by ULaserMeasurement::clear().

int ULaserData::getMeasurementsCnt ( )

inline

Get number og measurements allocated (number of angles in scan)

int ULaserData::getMeasurementSetCnt ( int set )

inline

Get statistics of valid measurements in each dataset

Parameters

set	is the set number 0..4

Returns: measurement count 0..laserMeasurementCnt

Referenced by ULaserMeasurement::clear(), and copy().

int ULaserData::getMeasurementSetsCnt ( )

inline

Referenced by UFunctionLaser::sendScan().

double ULaserData::getMinAngleDeg ( )

Get minimum (rightmost) angle

References mind(), and ULaserMeasurement::rangeCnt.

Referenced by ULaserMeasurement::clear().

UPosition ULaserData::getPosition	(	UPosition	laserPos,
		double	cosLaserTilt
	)

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 UClientFuncLaserGui::doRepaint(), getTilt(), UClientFuncLaserGui::paintHistScan(), and UClientFuncLaserGui::paintScanStatData().

UPosition ULaserData::getPosition ( UMatrix4 * movLtoR )

Get position in robot coordinates using full pose set

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

int* ULaserData::getRange ( int index )

inlineprotected

Get pointer to range measurement with this index. NB! no range check on index.

Referenced by ULaserMeasurement::clear(), copy(), and handlePeopleDetection().

int ULaserData::getRangeCnt ( int set = 0 )

inline

double ULaserData::getRangeMeter	(	int	index,
		bool *	rangeValid = `NULL`,
		int	set = `0`
	)

Get range measurement in metre with this index. Returns range in metre.

References ULaserMeasurement::range, and ULaserMeasurement::rangeCnt.

Referenced by ULaserMeasurement::clear(), Funcavoid::direkte(), filterLaserData(), Funcavoid::findHuller(), Funcavoid::findSpring(), UFuncRoseBot::handleCommand(), UFuncLobst::handleCommand(), UFuncLocalize::handleLocalize(), UFuncLocalize::handleLocalizeMHF(), UFuncLocalize::handleLocalizeUKF(), UResLobst::makeObst(), UResLocater::retrieveData(), UFunctionLaser::sendScan(), ULaserScan::setScan(), and UResAuEf::toCartesian().

double ULaserData::getRangeMetre	(	int	index,
		bool *	rangeValid = `NULL`,
		int	set = `0`
	)

inline

Get range measurement in meter with this index. Returns range in meter (same call as below, but different spelling).

Referenced by UV360Scan::update().

int ULaserData::getRangeRaw	(	int	index,
		int	set
	)

Get range in integer with the default scaling

Parameters

index	index to value (angle)
set	is measurement set - up to 5, default is 0 (all others than lms5xx

Returns: range as integer - in used scaling, e.g. mm

References ULaserMeasurement::range, and ULaserMeasurement::rangeCnt.

Referenced by ULaserMeasurement::clear(), and UFunctionLaser::sendScan().

UTime ULaserData::getScanTime ( )

inline

double ULaserData::getSdL ( )

inline

Get measurement deviation to the left

References varL.

Referenced by UClientFuncLaserGui::paintScanStatData().

unsigned long ULaserData::getSerial ( )

inline

double ULaserData::getTilt ( )

inline

Get combined variance to the left Get combined deviation to the left Get measurement variance to the left Get measurement variance to the right

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

Referenced by UClientFuncLaserGui::paintScanStatData().

int ULaserData::getUnit ( )

inline

Get unit measurement unit 0 = cm, 1 = mm, 2 = 10cm

Referenced by ULaserMeasurement::clear(), copy(), handlePeopleDetection(), and UFunctionLaser::sendScan().

double ULaserData::getVarL ( )

inline

Get measurement variance Get measurement variance to the left

References varL.

bool ULaserData::inZoneA ( )

inline

Is measurement inside zone A

References flag.

Referenced by UClientFuncLaserGui::doRepaint(), UClientFuncLaserGui::paintHistScan(), UClientFuncLaserGui::paintScanStatData(), and print().

bool ULaserData::inZoneB ( )

inline

Is measurement inside zone B

References flag.

Referenced by UClientFuncLaserGui::doRepaint(), UClientFuncLaserGui::paintHistScan(), UClientFuncLaserGui::paintScanStatData(), and print().

bool ULaserData::isDazzled ( )

inline

Is measurement dazzeled (measurement is not valid)

References flag.

Referenced by UClientFuncLaserGui::doRepaint(), UClientFuncLaserGui::paintHistScan(), and print().

bool ULaserData::isFake ( )

inline

Is the data based on one of the fixed fake scenarios

Referenced by ULaserMeasurement::clear(), copy(), UFuncEfLine::getCurrentOdoPose(), and UFunctionLaser::handleScanGetCommand().

bool ULaserData::isMeasurementStructure ( )

inline

is it new or old structure

Returns: true if new structure

Referenced by ULaserMeasurement::clear(), and copy().

bool ULaserData::isMirror ( )

inline

Is the dataset mirrored. This is set to be true if the resolution value is set negative (corresponding to the missor flag is set true)

Referenced by UFunctionLaser::sendScan().

bool ULaserData::isValid ( )

inline

Get valid flag

Referenced by ULaserMeasurement::clear(), copy(), ULms100::getNewestData(), ULms500::getNewestData(), UHokuyo::getNewestData(), Funcavoid::handleCommand(), UFuncRoseBot::handleCommand(), UFuncPpl::handleCommand(), UFuncEfLine::handleCommand(), UFuncLaserBox::handleCommand(), UFuncLocalize::handleLocalize(), UFuncLocalize::handleLocalizeMHF(), UFuncLocalize::handleLocalizeUKF(), UFunctionPassable::handlePass(), handlePeopleDetection(), UFunctionLaser::handleScanGetCommand(), and UResV360::update().

void ULaserData::print ( char * prestring )

Print metadata for this set:

void ULaserData::print ( char * preString )

Get measurement edge value Get measurement curvature value Print values of this measurement

References angle, inZoneA(), inZoneB(), isDazzled(), and range.

Referenced by ULaserMeasurement::clear(), ULaserDataSet::getLaserTilt(), getTilt(), ULaserDataSet::print(), and ~ULaserData().

void ULaserData::reInitMeasurements ( )

Reinit angle settings in allstored measurements to be used when changing mirror or width

References ULaserMeasurement::angle, and ULaserMeasurement::ULaserMeasurement().

Referenced by ULaserMeasurement::clear(), and UHokuyo::getDataTo().

bool ULaserData::saveToLogFile ( FILE * logfile )

Write data to logfile. 'logfile' must be open in write mode. Returns true if successfull.

References ULaserMeasurement::rangeCnt.

Referenced by ULaserMeasurement::clear(), and ULaserDevice::logThisScan().

void ULaserData::setAngleResAndStart	(	double	start,
		double	res
	)

inline

Set angle start and resolution

Parameters

start	angle is for first measurement.
res	is increment for each measurement. Both values are in degrees. zero angle is forwardt. e.g. start=-90.0 res=1.0 fits for 181 measurements with 1 deg resolution for a SICK laser

Referenced by USick::getNewestData(), UClientFuncSimScan::handleLaserScan(), and UReplayDevice::replayStep().

void ULaserData::setDeviceNum ( int value )

inline

Set device number for source device

Referenced by UResV360::callGotNewDataWithObject(), ULms100::decodeData(), ULms500::decodeData(), ULaserDevice::getFakeScan(), ULaserSim::getNewestData(), ULms100::getNewestData(), ULms500::getNewestData(), UHokuyo::getNewestData(), USick::getNewestData(), ULaserPool::getScan(), ULaserSim::receiveData(), UHokuyo::receiveData(), UReplayDevice::replayStep(), and UResV360::update().

void ULaserData::setFakeDataRad	(	double	minAng,
		double	maxAng,
		double	resolution,
		double	minRange,
		double	maxRange,
		UPose	sourcePose,
		UPosRot	sensorPose,
		int	fakeMode
	)

Fill random simulated data into structure all angles in radians. fakeMode is: 0 = not fake data. 1 = random data. 2,3,4 = fake corridor data.

References a, fakeMap, ULaserMeasurement::flags, UFakeMap::getFake2range(), UPosRot::getPhi(), UPosRot::getZ(), MAX_RANGE_VALUES, maxd(), maxi(), mini(), ULaserMeasurement::range, ULaserMeasurement::rangeCnt, and roundi().

Referenced by ULaserMeasurement::clear().

void ULaserData::setFakePose ( UPose pose )

inline

Set faked pose - used to set a pose relevant to the scandata.

Referenced by UFunctionPassable::handlePass(), and UFunctionLaser::handleScanGetCommand().

bool ULaserData::setFromTag ( USmlTag * tag )

Set values from a message tag

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

Referenced by getTilt(), UClientFuncLaser::handleLaserScan(), ULaserPathResult::isPathCrashed(), and UPlannerValue::UPlannerValue().

void ULaserData::setMaxValidRange ( double value )

inline

Advance a fake robot position (fake=2 or 3) a delta time of 'dt' in seconds. The state and startPose should be saved between calls. Returns the new pose after the advance (and this should be used as the new start pose at the next call. Set the maximum (valid) sensor range for sensor data

Referenced by ULms100::decodeData(), ULms500::decodeData(), ULaserDevice::getFakeScan(), ULaserSim::getNewestData(), USick::getNewestData(), UV360Scan::getScan(), ULaserSim::receiveData(), UHokuyo::receiveData(), and UReplayDevice::replayStep().

void ULaserData::setMeasurement	(	int	idx,
		int	set,
		int	range
	)

set new range measurement

Parameters

idx	is the index to measurement angle
set	is distance measurement set (0..4)
range	is range in mm

References ULaserMeasurement::MAX_VALUES_PER_ANGLE, ULaserMeasurement::range, and ULaserMeasurement::rangeCnt.

Referenced by ULaserMeasurement::clear(), USickData::getDataTo(), ULms100::getDataTo(), ULms500::getDataTo(), UHokuyo::getDataTo(), UV360Scan::getScan(), and UReplayDevice::replayStep().

void ULaserData::setMirror ( bool value )

Set data to the mirror if value is true. This corresponds to turning the laser scanner upside down.

Referenced by ULaserMeasurement::clear(), ULms100::decodeData(), ULms500::decodeData(), UHokuyo::getDataTo(), ULaserDevice::getFakeScan(), ULaserSim::getNewestData(), USick::getNewestData(), ULaserSim::receiveData(), and UHokuyo::receiveData().

void ULaserData::setRangeCnt ( int value )

inline

Set measurement count

Referenced by USickData::getDataTo(), UClientFuncSimScan::handleLaserScan(), and UReplayDevice::replayStep().

void ULaserData::setScanTime ( UTime value )

inline

Set scantime

Referenced by ULms100::decodeData(), ULms500::decodeData(), UHokuyo::decodeData(), USickData::getDataTo(), ULaserDevice::getFakeScan(), UV360Scan::getScan(), UClientFuncSimScan::handleLaserScan(), and UReplayDevice::replayStep().

void ULaserData::setSerial ( const unsigned long value )

inline

Set serial number (scan number)

Referenced by ULms100::decodeData(), ULms500::decodeData(), UHokuyo::decodeData(), ULaserDevice::getFakeScan(), ULaserSim::getNewestData(), USick::getNewestData(), UV360Scan::getScan(), ULaserPool::getScan(), UFuncLobst::handleCommand(), UClientFuncSimScan::handleLaserScan(), and UReplayDevice::replayStep().

void ULaserData::setSimData	(	double	minAng,
		double	maxAng,
		double	resolution,
		double	minRange,
		double	maxRange,
		UPose	sourcePose,
		UPosRot	sensorPose,
		int	fake
	)

Fill random simulated data into structure NB! min- maxAng and resolution in degrees - range [-180,180]

Referenced by ULaserMeasurement::clear(), and ULaserDevice::getFakeScan().

void ULaserData::setUnit ( int toUnit )

inline

Get range measurement in metre with this index. Returns range in metre. Set unit measurement unit 0 = cm, 1 = mm, 2 = 10cm

Referenced by ULms100::decodeData(), ULms500::decodeData(), UHokuyo::decodeData(), USickData::getDataTo(), UV360Scan::getScan(), UClientFuncSimScan::handleLaserScan(), and UReplayDevice::replayStep().

void ULaserData::setValid ( bool value )

inline

Set valid flag

Referenced by ULms100::decodeData(), ULms500::decodeData(), UHokuyo::decodeData(), USickData::getDataTo(), UReplayDevice::getNewestData(), ULms100::getNewestData(), ULms500::getNewestData(), UHokuyo::getNewestData(), USick::getNewestData(), UV360Scan::getScan(), ULaserSim::receiveData(), and UReplayDevice::replayStep().

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

Set values from 2-byte data

References angle, flag, and range.

Referenced by ULaserMeasurement::clear(), filterLaserData(), UClientFuncSimScan::handleLaserScan(), and UClientFuncLaser::handleLaserScan().

void ULaserData::setValue	(	double	ang,
		double	distance,
		bool	inA,
		bool	inB,
		bool	inZ
	)

Set values from tag data

void ULaserData::setValue	(	int	idx,
		unsigned char	lsb,
		unsigned char	msb
	)

Set data value

References ULaserMeasurement::flags, ULaserMeasurement::range, and roundi().

Member Data Documentation

double ULaserData::angle

private

Edge value Curvature value Angle of measurement in radians

Referenced by getAngle(), print(), setFromTag(), and setValue().

double ULaserData::angleResolution

protected

angle resolution in degrees

double ULaserData::angleStart

protected

Start angle - zero is front

int ULaserData::device

protected

Device number for data

bool ULaserData::fake

protected

Are the current range data from a fake source - set true on fake update and false on setAngleResAnsStart()

UPoseV ULaserData::fakePose

protected

Fake robot pose (for fake = 2 or 3)

int ULaserData::flag

private

Measuremnt is in zone A

Referenced by getFlag(), inZoneA(), inZoneB(), isDazzled(), setFromTag(), setValue(), and ULaserData().

int ULaserData::flags[MAX_RANGE_VALUES]

protected

Flag value related to range measurements

ULaserMeasurement** ULaserData::laserMeasurement

protected

pointer array

int ULaserData::laserMeasurementCnt

protected

size of pointer array - rangeCnt is number of used values

Referenced by ULaserMeasurement::clear(), and copy().

int ULaserData::laserMeasurementMaxCnt

protected

size of pointer array - rangeCnt is number of used values

int ULaserData::laserMeasurementSetCnt[5]

protected

number of (non-zero) measurements in each range bin

double ULaserData::maxValidRange

protected

Maximum (valid) laser range. for sick laser it should be set some distance less than max range to allow to assert range validity.

double ULaserData::range

private

Measuremnt is in zone B Measuremnt is dazzled - not valid e.g. in sunshine debug variable - not used Distance in meter

Referenced by getDistance(), print(), setFromTag(), and setValue().

int ULaserData::range[MAX_RANGE_VALUES]

protected

Measured range values

int ULaserData::rangeCnt

protected

Number of valid ranges (not as measurements)

UTime ULaserData::scanTime

protected

Scantime

unsigned long ULaserData::serial

protected

Scannumber

Referenced by ULaserDataSet::setData().

double ULaserData::tilt

private

Combined variance and curvature tilt of line-fit

Referenced by getTilt(), and setFromTag().

int ULaserData::unit

protected

measurment unit: 0 = cm, 1 = mm, 2 = 10cm

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

bool ULaserData::useLaserMeasurementStructure

protected

Get fake range using fake=2 option Advance robot position towards target pose in total 'dt' seconds. Returns the distance to the the target position. Make fake map and path Is new structure used - else just range[...]

bool ULaserData::valid

protected

Is data valid

Referenced by UPlannerValue::clear(), UPlannerValue::getAsString(), UPlannerValue::isValid(), UPlannerValue::setFromTag(), and UPlannerValue::UPlannerValue().

double ULaserData::varL

private

Variance Variance

Referenced by getSdL(), getVarL(), and setFromTag().

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation