#include <RangeSensor.h>

Public Member Functions
const rs::rangeArray_ptr	getLaserScan (const cv::Point sensorPos, const double theta) const
	Get a Laserscan at the current position/orientation. More...

const double	getUSScan (const cv::Point sensorPos, const double theta) const
	Get a ultra sonic range information at the current position/orientation. More...

	RangeSensor (const SensorType &type)
	rs::RangeSensor constructor. More...

void	setConfig (pses_simulation::RangeSensorConfig &config)
	Sets the RangeSensorConfig object of this sensor simulation. More...

void	setMap (const cv::Mat &map)
	Sets the occupancy grid to be used by this sensor simulation. More...

void	setMapMetaData (const nav_msgs::MapMetaData &mapInfo)
	Sets the meta data of the occupancy grid to be used by this sensor simulation. More...

Private Attributes
pses_simulation::RangeSensorConfig	config

cv::Mat	map

nav_msgs::MapMetaData	mapInfo

rs::SensorType	type

Detailed Description

Definition at line 84 of file RangeSensor.h.

Constructor & Destructor Documentation

RangeSensor::RangeSensor ( const SensorType & type )

rs::RangeSensor constructor.

Parameters

[in] type defines what kind of range finder will be simulated.

Definition at line 38 of file RangeSensor.cpp.

Member Function Documentation

const rs::rangeArray_ptr RangeSensor::getLaserScan	(	const cv::Point	sensorPos,
		const double	theta
	)		const

Get a Laserscan at the current position/orientation.

Parameters

[in]	sensorPos	sensor position
[in]	theta	sensor orientation in a plane

Returns: array of range finder values in meters

Definition at line 52 of file RangeSensor.cpp.

const double RangeSensor::getUSScan	(	const cv::Point	sensorPos,
		const double	theta
	)		const

Get a ultra sonic range information at the current position/orientation.

Parameters

[in]	sensorPos	sensor position
[in]	theta	sensor orientation in a plane

Returns: range finder value in meters

Definition at line 110 of file RangeSensor.cpp.

void RangeSensor::setConfig ( pses_simulation::RangeSensorConfig & config )

Sets the RangeSensorConfig object of this sensor simulation.

Parameters

[in] config dynamic reconfigure object for this sensor

Definition at line 40 of file RangeSensor.cpp.

void RangeSensor::setMap ( const cv::Mat & map )

Sets the occupancy grid to be used by this sensor simulation.

Parameters

[in] map occupancy grid represented by a monochromatic image

Definition at line 45 of file RangeSensor.cpp.

void RangeSensor::setMapMetaData ( const nav_msgs::MapMetaData & mapInfo )

Sets the meta data of the occupancy grid to be used by this sensor simulation.

Meta data contains information about the occupancy grids resultion, point of origin and meaning of grid values.

Parameters

[in] mapInfo occupancy grid meta data

Definition at line 47 of file RangeSensor.cpp.

Member Data Documentation

pses_simulation::RangeSensorConfig RangeSensor::config

private

Definition at line 149 of file RangeSensor.h.

cv::Mat RangeSensor::map

private

Definition at line 156 of file RangeSensor.h.

nav_msgs::MapMetaData RangeSensor::mapInfo

private

Definition at line 163 of file RangeSensor.h.

rs::SensorType RangeSensor::type

private

Definition at line 142 of file RangeSensor.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation