Raw laser measuerement. More...

#include <raw_laser.h>

Inheritance diagram for g2o::RawLaser:

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Collaboration diagram for g2o::RawLaser:

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Public Types
using	Point2DVector = std::vector< Vector2 >

Public Member Functions
	RawLaser ()

	~RawLaser ()

virtual bool	write (std::ostream &os) const
	write the data to a stream

virtual bool	read (std::istream &is)
	read the data from a stream

Point2DVector	cartesian () const

const std::vector< double > &	ranges () const
	the range measurements by the laser

void	setRanges (const std::vector< double > &ranges)

const std::vector< double > &	remissions () const
	the remission measurements by the laser

void	setRemissions (const std::vector< double > &remissions)

const LaserParameters &	laserParams () const
	the parameters of the laser

void	setLaserParams (const LaserParameters &laserParams)

Public Member Functions inherited from g2o::RobotData
	RobotData ()

virtual	~RobotData ()

double	timestamp () const

void	setTimestamp (double ts)

double	loggerTimestamp () const

void	setLoggerTimestamp (double ts)

const std::string &	tag () const

void	setTag (const std::string &tag)

const std::string &	hostname () const

void	setHostname (const std::string &hostname)

Public Member Functions inherited from g2o::HyperGraph::Data
	Data ()

	~Data ()

virtual HyperGraph::HyperGraphElementType	elementType () const

const Data *	next () const

Data *	next ()

void	setNext (Data *next_)

DataContainer *	dataContainer ()

const DataContainer *	dataContainer () const

void	setDataContainer (DataContainer *dataContainer_)

Public Member Functions inherited from g2o::HyperGraph::HyperGraphElement
virtual	~HyperGraphElement ()

Protected Attributes
std::vector< double >	_ranges

std::vector< double >	_remissions

LaserParameters	_laserParams

Protected Attributes inherited from g2o::RobotData
double	_timestamp
	timestamp when the measurement was generated

double	_loggerTimestamp
	timestamp when the measurement was recorded

std::string	_tag
	string tag (FLASER, ROBOTLASER, ODOM..) of the line in the log

std::string	_hostname
	name of the computer/robot generating the data

Protected Attributes inherited from g2o::HyperGraph::Data
Data *	_next

DataContainer *	_dataContainer

Detailed Description

Raw laser measuerement.

A raw laser measuerement. The read/write function correspond to the format of CARMEN.

Definition at line 45 of file raw_laser.h.

Member Typedef Documentation

◆ Point2DVector

using g2o::RawLaser::Point2DVector = std::vector<Vector2>

Definition at line 47 of file raw_laser.h.

Constructor & Destructor Documentation

◆ RawLaser()

g2o::RawLaser::RawLaser ( )

Definition at line 37 of file raw_laser.cpp.

    : RobotData(),
      _laserParams(0, 180, -const_pi() / 2, const_pi() / 180, 50, cst(0.1), 0) {
}

◆ ~RawLaser()

g2o::RawLaser::~RawLaser ( )

Definition at line 42 of file raw_laser.cpp.

42{}

Member Function Documentation

◆ cartesian()

RawLaser::Point2DVector g2o::RawLaser::cartesian ( ) const

computes a cartesian view of the beams (x,y).

Returns: a vector with the points of the scan in cartesian coordinates.

Definition at line 84 of file raw_laser.cpp.

                                                {
  Point2DVector points;
  for (size_t i = 0; i < _ranges.size(); ++i) {
    const double& r = _ranges[i];
    if (r < _laserParams.maxRange && r > _laserParams.minRange) {
      double alpha = _laserParams.firstBeamAngle + i * _laserParams.angularStep;
      points.push_back(Vector2(std::cos(alpha) * r, std::sin(alpha) * r));
    }
  }
  return points;
}

References _laserParams, _ranges, g2o::LaserParameters::angularStep, g2o::LaserParameters::firstBeamAngle, and g2o::LaserParameters::minRange.

◆ laserParams()

const LaserParameters & g2o::RawLaser::laserParams ( ) const

inline

the parameters of the laser

Definition at line 71 of file raw_laser.h.

71{ return _laserParams; }

Referenced by g2o::Gm2dlIO::readGm2dl(), setLaserParams(), and g2o::Gm2dlIO::updateLaserData().

◆ ranges()

const std::vector< double > & g2o::RawLaser::ranges ( ) const

inline

the range measurements by the laser

Definition at line 63 of file raw_laser.h.

63{ return _ranges; }

Referenced by setRanges(), and g2o::RobotLaser::write().

◆ read()

bool g2o::RawLaser::read ( std::istream & is )

virtual

read the data from a stream

Implements g2o::HyperGraph::Data.

Reimplemented in g2o::RobotLaser.

Definition at line 50 of file raw_laser.cpp.

                                  {
  int type;
  double angle, fov, res, maxrange, acc;
  int remission_mode;
  is >> type >> angle >> fov >> res >> maxrange >> acc >> remission_mode;
 
  int beams;
  is >> beams;
  _laserParams =
      LaserParameters(type, beams, angle, res, maxrange, acc, remission_mode);
  _ranges.resize(beams);
  for (int i = 0; i < beams; i++) is >> _ranges[i];
 
  is >> beams;
  _remissions.resize(beams);
  for (int i = 0; i < beams; i++) is >> _remissions[i];
 
  // timestamp + host
  is >> _timestamp;
  is >> _hostname;
  is >> _loggerTimestamp;
  return true;
}

References g2o::RobotData::_hostname, _laserParams, g2o::RobotData::_loggerTimestamp, _ranges, _remissions, and g2o::RobotData::_timestamp.

◆ remissions()

const std::vector< double > & g2o::RawLaser::remissions ( ) const

inline

the remission measurements by the laser

Definition at line 67 of file raw_laser.h.

67{ return _remissions; }

Referenced by setRemissions().

◆ setLaserParams()

void g2o::RawLaser::setLaserParams ( const LaserParameters & laserParams )

Definition at line 80 of file raw_laser.cpp.

                                                                {
  _laserParams = laserParams;
}

References _laserParams, and laserParams().

Referenced by g2o::Gm2dlIO::updateLaserData().

◆ setRanges()

void g2o::RawLaser::setRanges ( const std::vector< double > & ranges )

Definition at line 74 of file raw_laser.cpp.

74{ _ranges = ranges; }

g2o::RawLaser::ranges

const std::vector< double > & ranges() const

the range measurements by the laser

Definition raw_laser.h:63

References _ranges, and ranges().

◆ setRemissions()

void g2o::RawLaser::setRemissions ( const std::vector< double > & remissions )

Definition at line 76 of file raw_laser.cpp.

                                                                {
  _remissions = remissions;
}

References _remissions, and remissions().

◆ write()

bool g2o::RawLaser::write ( std::ostream & os ) const

virtual

write the data to a stream

Implements g2o::HyperGraph::Data.

Reimplemented in g2o::RobotLaser.

Definition at line 44 of file raw_laser.cpp.

                                        {
  // TODO(Rainer): implement writing of raw laser
  G2O_ERROR("RawLaser::write() not implemented yet.");
  return false;
}

References G2O_ERROR.

Member Data Documentation

◆ _laserParams

LaserParameters g2o::RawLaser::_laserParams

protected

Definition at line 77 of file raw_laser.h.

Referenced by cartesian(), read(), g2o::RobotLaser::read(), setLaserParams(), and g2o::RobotLaser::write().

◆ _ranges

std::vector<double> g2o::RawLaser::_ranges

protected

Definition at line 75 of file raw_laser.h.

Referenced by cartesian(), read(), g2o::RobotLaser::read(), and setRanges().

◆ _remissions

std::vector<double> g2o::RawLaser::_remissions

protected

Definition at line 76 of file raw_laser.h.

Referenced by read(), g2o::RobotLaser::read(), setRemissions(), and g2o::RobotLaser::write().

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

/build/reproducible-path/g2o-0~20230806/g2o/types/data/raw_laser.h
/build/reproducible-path/g2o-0~20230806/g2o/types/data/raw_laser.cpp

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Point2DVector

Constructor & Destructor Documentation

◆ RawLaser()

◆ ~RawLaser()

Member Function Documentation

◆ cartesian()

◆ laserParams()

◆ ranges()

◆ read()

◆ remissions()

◆ setLaserParams()

◆ setRanges()

◆ setRemissions()

◆ write()

Member Data Documentation

◆ _laserParams

◆ _ranges

◆ _remissions