mrpt::slam::CObservation2DRangeScan Class Reference

Declares a class derived from "CObservation" that encapsules a 2D range scan measurement (typically from a laser scanner). More...

#include <mrpt/slam/CObservation2DRangeScan.h>

Inheritance diagram for mrpt::slam::CObservation2DRangeScan:

[legend]

Collaboration diagram for mrpt::slam::CObservation2DRangeScan:

[legend]

List of all members.

Classes
class	CAuxMapWrapper
Public Types
typedef std::vector < mrpt::math::CPolygon >	TListExclusionAreas
	Used in filterByExclusionAreas.
typedef std::vector< std::pair < mrpt::math::CPolygon, std::pair< double, double > > >	TListExclusionAreasWithRanges
	Used in filterByExclusionAreas.
Public Member Functions
	CObservation2DRangeScan ()
	Default constructor.
	~CObservation2DRangeScan ()
	Destructor.
const CPointsMap *	getAuxPointsMap () const
	Auxiliary members used to speed up some algorithms: it will be NULL normally.
const CPointsMap *	buildAuxPointsMap (CPointsMap::TInsertionOptions *options=NULL) const
	Returns an auxiliary points map built from the scan; it is actually build at the first call to this method, and only once.
bool	isPlanarScan (const double tolerance=0) const
	Return true if the laser scanner is "horizontal", so it has an absolute value of "pitch" and "roll" less or equal to the given tolerance (in rads, default=0) (with the normal vector either upwards or downwards).
float	likelihoodWith (const CObservation anotherObs, const CPosePDF anotherObsPose=NULL) const
	Implements the virtual method in charge of finding the likelihood between this and another observation, probably only of the same derived class.
void	getSensorPose (CPose3D &out_sensorPose) const
	A general method to retrieve the sensor pose on the robot.
void	setSensorPose (const CPose3D &newSensorPose)
	A general method to change the sensor pose on the robot.
void	truncateByDistanceAndAngle (float min_distance, float max_angle, float min_height=0, float max_height=0, float h=0)
	A general method to truncate the scan by defining a minimum valid distance and a maximum valid angle as well as minimun and maximum heights (NOTE: the laser z-coordinate must be provided).
void	filterByExclusionAreas (const TListExclusionAreas &areas)
	Mark as invalid sensed points that fall within any of a set of "exclusion areas", given in coordinates relative to the vehicle (taking into account "sensorPose").
void	filterByExclusionAreas (const TListExclusionAreasWithRanges &areas)
	Mark as invalid sensed points that fall within any of a set of "exclusion areas", given in coordinates relative to the vehicle (taking into account "sensorPose").
void	filterByExclusionAngles (const std::vector< std::pair< double, double > > &angles)
	Mark as invalid the ranges in any of a given set of "forbiden angle ranges", given as pairs<min_angle,max_angle>.
Public Attributes
vector_float	scan
	The range values of the scan, in meters.
std::vector< char >	validRange
	It's false (=0) on no reflected rays, referenced to elements in "scan" (Added in the streamming version #1 of the class).
float	aperture
	The aperture of the range finder, in radians (typically M_PI = 180 degrees).
bool	rightToLeft
	The scanning direction.
float	maxRange
	The maximum range allowed by the device, in meters (e.g.
CPose3D	sensorPose
	The 6D pose of the sensor on the robot.
float	stdError
	The "sigma" error of the device in meters, used while inserting the scan in an occupancy grid.
float	beamAperture
	The aperture of each beam, in radians, used to insert "thick" rays in the occupancy grid.
double	deltaPitch
	If the laser gathers data by sweeping in the pitch/elevation angle, this holds the increment in "pitch" (=-"elevation") between the beginning and the end of the scan (the sensorPose member stands for the pose at the beginning of the scan).
Protected Attributes
CAuxMapWrapper	m_auxMap

Detailed Description

Declares a class derived from "CObservation" that encapsules a 2D range scan measurement (typically from a laser scanner).

This is prepared for accepting 180deg,360deg or any other aperture scan, as well as resolutions of 0.5deg,0.25deg or any other.

See also:: CObservation

Definition at line 54 of file CObservation2DRangeScan.h.

Member Typedef Documentation

typedef std::vector<mrpt::math::CPolygon> mrpt::slam::CObservation2DRangeScan::TListExclusionAreas

Used in filterByExclusionAreas.

Definition at line 83 of file CObservation2DRangeScan.h.

typedef std::vector<std::pair<mrpt::math::CPolygon,std::pair<double,double> > > mrpt::slam::CObservation2DRangeScan::TListExclusionAreasWithRanges

Used in filterByExclusionAreas.

Definition at line 84 of file CObservation2DRangeScan.h.

Constructor & Destructor Documentation

mrpt::slam::CObservation2DRangeScan::CObservation2DRangeScan ( )

Default constructor.

mrpt::slam::CObservation2DRangeScan::~CObservation2DRangeScan ( )

Destructor.

Member Function Documentation

const CPointsMap* mrpt::slam::CObservation2DRangeScan::buildAuxPointsMap ( CPointsMap::TInsertionOptions * options = NULL ) const

Returns an auxiliary points map built from the scan; it is actually build at the first call to this method, and only once.

Parameters:

options

Can be NULL to use default point maps' insertion options, or a valid pointer to override some params.

See also:: auxPointsMap

void mrpt::slam::CObservation2DRangeScan::filterByExclusionAngles ( const std::vector< std::pair< double, double > > & angles )

Mark as invalid the ranges in any of a given set of "forbiden angle ranges", given as pairs<min_angle,max_angle>.

See also:: C2DRangeFinderAbstract::loadExclusionAreas

void mrpt::slam::CObservation2DRangeScan::filterByExclusionAreas ( const TListExclusionAreasWithRanges & areas )

Mark as invalid sensed points that fall within any of a set of "exclusion areas", given in coordinates relative to the vehicle (taking into account "sensorPose").

See also:: C2DRangeFinderAbstract::loadExclusionAreas

void mrpt::slam::CObservation2DRangeScan::filterByExclusionAreas ( const TListExclusionAreas & areas )

Mark as invalid sensed points that fall within any of a set of "exclusion areas", given in coordinates relative to the vehicle (taking into account "sensorPose").

See also:: C2DRangeFinderAbstract::loadExclusionAreas

const CPointsMap* mrpt::slam::CObservation2DRangeScan::getAuxPointsMap ( ) const [inline]

Auxiliary members used to speed up some algorithms: it will be NULL normally.

See also:: buildAuxPointsMap

Definition at line 135 of file CObservation2DRangeScan.h.

References mrpt::slam::CObservation2DRangeScan::CAuxMapWrapper::get().

void mrpt::slam::CObservation2DRangeScan::getSensorPose ( CPose3D & out_sensorPose ) const [inline, virtual]

A general method to retrieve the sensor pose on the robot.

Note that most sensors will return a full (6D) CPose3D, but see the derived classes for more details or special cases.

See also:: setSensorPose

Implements mrpt::slam::CObservation.

Definition at line 163 of file CObservation2DRangeScan.h.

bool mrpt::slam::CObservation2DRangeScan::isPlanarScan ( const double tolerance = 0 ) const

Return true if the laser scanner is "horizontal", so it has an absolute value of "pitch" and "roll" less or equal to the given tolerance (in rads, default=0) (with the normal vector either upwards or downwards).

float mrpt::slam::CObservation2DRangeScan::likelihoodWith	(	const CObservation *	anotherObs,
		const CPosePDF *	anotherObsPose = `NULL`
	)			const `[virtual]`

Implements the virtual method in charge of finding the likelihood between this and another observation, probably only of the same derived class.

The operator may be asymmetric.

Parameters:

	anotherObs	The other observation to compute likelihood with.
	anotherObsPose	If known, the belief about the robot pose when the other observation was taken can be supplied here, or NULL if it is unknown.

Returns:: Returns a likelihood measurement, in the range [0,1].

Exceptions:

std::exception

On any error, as another observation being of an invalid class.

Implements mrpt::slam::CObservation.

void mrpt::slam::CObservation2DRangeScan::setSensorPose ( const CPose3D & newSensorPose ) [inline, virtual]

A general method to change the sensor pose on the robot.

Note that most sensors will use the full (6D) CPose3D, but see the derived classes for more details or special cases.

See also:: getSensorPose

Implements mrpt::slam::CObservation.

Definition at line 170 of file CObservation2DRangeScan.h.

void mrpt::slam::CObservation2DRangeScan::truncateByDistanceAndAngle	(	float	min_distance,
		float	max_angle,
		float	min_height = `0`,
		float	max_height = `0`,
		float	h = `0`
	)

A general method to truncate the scan by defining a minimum valid distance and a maximum valid angle as well as minimun and maximum heights (NOTE: the laser z-coordinate must be provided).

Member Data Documentation

float mrpt::slam::CObservation2DRangeScan::aperture

The aperture of the range finder, in radians (typically M_PI = 180 degrees).

Definition at line 105 of file CObservation2DRangeScan.h.

Referenced by mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().

float mrpt::slam::CObservation2DRangeScan::beamAperture

The aperture of each beam, in radians, used to insert "thick" rays in the occupancy grid.

(Added in the streamming version #4 of the class)

Definition at line 126 of file CObservation2DRangeScan.h.

double mrpt::slam::CObservation2DRangeScan::deltaPitch

If the laser gathers data by sweeping in the pitch/elevation angle, this holds the increment in "pitch" (=-"elevation") between the beginning and the end of the scan (the sensorPose member stands for the pose at the beginning of the scan).

Definition at line 130 of file CObservation2DRangeScan.h.

Referenced by mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().

CAuxMapWrapper mrpt::slam::CObservation2DRangeScan::m_auxMap [mutable, protected]

Definition at line 80 of file CObservation2DRangeScan.h.

float mrpt::slam::CObservation2DRangeScan::maxRange

The maximum range allowed by the device, in meters (e.g.

80m, 50m,...)

Definition at line 113 of file CObservation2DRangeScan.h.

Referenced by mrpt::opengl::CAngularObservationMesh::FTrace2D< T >::operator()(), and mrpt::opengl::CAngularObservationMesh::trace1DSetOfRays().

bool mrpt::slam::CObservation2DRangeScan::rightToLeft

The scanning direction.

Definition at line 109 of file CObservation2DRangeScan.h.