UV360Scan Class Reference

#include <uv360scan.h>

Public Member Functions
UPoseTime	getCurrentPose ()
UPose	getLaserPose ()
int	getMeasurementCnt ()
double	getResolution ()
bool	getScan (ULaserData *laserData)
unsigned long	getScanSerial ()
int	getSectorCnt ()
void	setLaserPose (UPose newLaserPose)
bool	update (ULaserData *data, UPoseTime dataPose, U2Dpos notValid[])
	UV360Scan ()
	~UV360Scan ()

Protected Member Functions
void	advanceScan ()
int	getIndex (double angle)
UV360Sect *	getNewestScan ()
UV360Sect *	getNextScan ()
UV360Sect *	getSector (int ref, double angle)

Protected Attributes
double	angleMax
double	angleMin
double	angleVirtualMin
double	angleVirtualRes
UPoseTime	currentPose
UPose	laserPose
double	maxValidRange
int	newest
int	next
UV360Sect	scan [scanMaxCnt]
int	scanCnt
unsigned long	sourceSerial

Static Protected Attributes
static const int	scanMaxCnt = MAX_MEASUREMENTS_PER_SCAN * 2

Detailed Description

Class with a virtual 360 deg scan.

    @author Christian Andersen <jca@oersted.dtu.dk>

Constructor & Destructor Documentation

UV360Scan::UV360Scan

(

)

Constructor

References advanceScan(), angleMax, angleMin, angleVirtualMin, angleVirtualRes, UPoseTime::clear(), currentPose, laserPose, maxValidRange, next, scanCnt, UPose::set(), and sourceSerial.

UV360Scan::~UV360Scan

(

)

Destructor

Member Function Documentation

void UV360Scan::advanceScan ( )

protected

Set index to next scan

References newest, next, scanCnt, and scanMaxCnt.

Referenced by getResolution(), update(), and UV360Scan().

UPoseTime UV360Scan::getCurrentPose ( )

inline

Get current pose

References currentPose, and getScan().

Referenced by UResV360::print().

int UV360Scan::getIndex ( double  angle )

protected

Get relative index to the sector in this direction The angle should be in the range [-Pi,Pi]. Returns index in legal range.

References angleVirtualMin, angleVirtualRes, roundi(), and scanCnt.

Referenced by getNewestScan().

UPose UV360Scan::getLaserPose ( )

inline

Get position of laser scanner on robot.

References laserPose.

Referenced by UResV360::getLaserPose().

int UV360Scan::getMeasurementCnt

(

)

Get total number of saved measurements is newest scan

References UV360Sect::getMeasCnt(), getNewestScan(), and scanCnt.

Referenced by getSectorCnt(), and UResV360::print().

UV360Sect* UV360Scan::getNewestScan ( )

inlineprotected

Get pointer to first sector in newest scan

References getIndex(), getNextScan(), getSector(), newest, and scan.

Referenced by getMeasurementCnt().

UV360Sect* UV360Scan::getNextScan ( )

protected

Get pointer to first sector in next scan buffer (work in progress buffer)

Referenced by getNewestScan().

double UV360Scan::getResolution ( )

inline

Get number of sectors each scan

References advanceScan(), and angleVirtualRes.

Referenced by UResV360::update().

bool UV360Scan::getScan

(

ULaserData *

laserData

)

Get the newest scan info as virtual laser scan

References ULaserData::addMeasurements(), angleVirtualMin, angleVirtualRes, currentPose, ULaserData::getFlags(), UV360Sect::getMeasCnt(), UV360Sect::getRange(), maxValidRange, newest, scan, scanCnt, ULaserData::setMaxValidRange(), ULaserData::setMeasurement(), ULaserData::setScanTime(), ULaserData::setSerial(), ULaserData::setUnit(), ULaserData::setValid(), sourceSerial, and UPoseTime::t.

Referenced by UResV360::callGotNewDataWithObject(), getCurrentPose(), and UResV360::getNewestData().

unsigned long UV360Scan::getScanSerial ( )

inline

Get serial number of last scan

References sourceSerial.

Referenced by UResV360::getNewestData(), and UResV360::print().

UV360Sect * UV360Scan::getSector ( int  ref, double  angle  )

protected

Get pointer to the sector with this angle

References angleVirtualMin, angleVirtualRes, roundi(), scan, and scanCnt.

Referenced by getNewestScan(), and update().

int UV360Scan::getSectorCnt ( )

inline

Get number of measurement sectors in a scan

References getMeasurementCnt(), and scanCnt.

Referenced by UResV360::getMeasurementCnt(), UResV360::getSectorCnt(), and UResV360::print().

void UV360Scan::setLaserPose ( UPose  newLaserPose )

inline

Set position of laser scanner on robot.

References laserPose.

Referenced by UResV360::setLaserPose(), and UResV360::update().

bool UV360Scan::update	(	ULaserData *	data,
		UPoseTime	dataPose,
		U2Dpos	notValid[]
	)

Update virtual scanner with this scan. All data above max range or below 2 cm are not used as valid measurement.

Parameters

data	is the source scandata.
dataPose	is robot odometry pose at scantime
notValid	is an array with 4 doubles x,y of fwd-left and back-right, any measurement within this area is not used.

Returns

true if updated

References a, UV360Sect::addMeas(), advanceScan(), angleMax, angleMin, UV360Sect::clear(), currentPose, ULaserData::getAngleRad(), ULaserData::getAngleResolutionRad(), ULaserData::getAngleStartRad(), UPose::getMapToPosePose(), ULaserData::getMaxValidRange(), UV360Sect::getMeas(), UV360Sect::getMeasCnt(), UV360Meas::getPos(), ULaserData::getRangeCnt(), ULaserData::getRangeMetre(), getSector(), ULaserData::getSerial(), UV360Meas::getT(), UPose::h, laserPose, maxValidRange, newest, next, UTime::Now(), roundi(), scan, scanCnt, sourceSerial, UPoseTime::t, U2Dpos::x, UPosition::x, UPose::x, U2Dpos::y, UPosition::y, and UPose::y.

Referenced by UResV360::update().

Member Data Documentation

double UV360Scan::angleMax

protected

Use fresh data to this angle (radians)

Referenced by update(), and UV360Scan().

double UV360Scan::angleMin

protected

Use fresh data to this angle (radians)

Referenced by update(), and UV360Scan().

double UV360Scan::angleVirtualMin

protected

Use from this angle (in radians and range [-PI, Pi[)

Referenced by getIndex(), getScan(), getSector(), and UV360Scan().

double UV360Scan::angleVirtualRes

protected

The virtual scan has this resolution (in radians)

Referenced by getIndex(), getResolution(), getScan(), getSector(), and UV360Scan().

UPoseTime UV360Scan::currentPose

protected

Latest robot pose at scantime (and update time)

Referenced by getCurrentPose(), getScan(), update(), and UV360Scan().

UPose UV360Scan::laserPose

protected

Laser position on robot. Pose of laserscanner in robot perspective.

Referenced by getLaserPose(), setLaserPose(), update(), and UV360Scan().

double UV360Scan::maxValidRange

protected

Max valid range in source data

Referenced by getScan(), update(), and UV360Scan().

int UV360Scan::newest

protected

index to newest scan

Referenced by advanceScan(), getNewestScan(), getScan(), and update().

int UV360Scan::next

protected

Index to next scan (following newest)

Referenced by advanceScan(), update(), and UV360Scan().

UV360Sect UV360Scan::scan[scanMaxCnt]

protected

Virtual scan

Referenced by getNewestScan(), getScan(), getSector(), and update().

int UV360Scan::scanCnt

protected

measurements in one virtual scan

Referenced by advanceScan(), getIndex(), getMeasurementCnt(), getScan(), getSector(), getSectorCnt(), update(), and UV360Scan().

const int UV360Scan::scanMaxCnt = MAX_MEASUREMENTS_PER_SCAN * 2

staticprotected

Number of measurements in two virtual scans (current and next)

Referenced by advanceScan().

unsigned long UV360Scan::sourceSerial

protected

Serial number of latest source scan

Referenced by getScan(), getScanSerial(), update(), and UV360Scan().

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

• uv360scan.h
• uv360scan.cpp