laser measurement obtained by a robot More...

#include <robot_laser.h>

Inheritance diagram for g2o::RobotLaser:

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Collaboration diagram for g2o::RobotLaser:

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Public Member Functions
	RobotLaser ()

	~RobotLaser ()

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

SE2	laserPose () const

const SE2 &	odomPose () const

void	setOdomPose (const SE2 &odomPose)

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

	~RawLaser ()

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 ()

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Protected Attributes
SE2	_odomPose

double	_laserTv
	velocities and safety distances of the robot.

double	_laserRv

double	_forwardSafetyDist

double	_sideSafetyDist

double	_turnAxis

Protected Attributes inherited from g2o::RawLaser
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

Additional Inherited Members
Public Types inherited from g2o::RawLaser
using	Point2DVector = std::vector< Vector2 >

Detailed Description

laser measurement obtained by a robot

A laser measurement obtained by a robot. The measurement is equipped with a pose of the robot at which the measurement was taken. The read/write function correspond to the CARMEN logfile format.

Definition at line 43 of file robot_laser.h.

Constructor & Destructor Documentation

◆ RobotLaser()

g2o::RobotLaser::RobotLaser ( )

Definition at line 40 of file robot_laser.cpp.

    : RawLaser(),
      _laserTv(0.),
      _laserRv(0.),
      _forwardSafetyDist(0.),
      _sideSafetyDist(0.),
      _turnAxis(0.) {}

◆ ~RobotLaser()

g2o::RobotLaser::~RobotLaser ( )

Definition at line 48 of file robot_laser.cpp.

48{}

Member Function Documentation

◆ laserPose()

SE2 g2o::RobotLaser::laserPose ( ) const

inline

Definition at line 52 of file robot_laser.h.

52{ return _odomPose * _laserParams.laserPose; }

g2o::RawLaser::_laserParams

LaserParameters _laserParams

Definition raw_laser.h:77

g2o::RobotLaser::_odomPose

SE2 _odomPose

Definition robot_laser.h:57

g2o::LaserParameters::laserPose

SE2 laserPose

Definition laser_parameters.h:45

Referenced by main().

◆ odomPose()

const SE2 & g2o::RobotLaser::odomPose ( ) const

inline

Definition at line 53 of file robot_laser.h.

53{ return _odomPose; }

Referenced by g2o::addOdometryCalibLinksDifferential(), main(), and setOdomPose().

◆ read()

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

virtual

read the data from a stream

Reimplemented from g2o::RawLaser.

Definition at line 50 of file robot_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];
 
  // special robot laser stuff
  double x, y, theta;
  is >> x >> y >> theta;
  SE2 lp(x, y, theta);
  is >> x >> y >> theta;
  _odomPose = SE2(x, y, theta);
  _laserParams.laserPose = _odomPose.inverse() * lp;
  is >> _laserTv >> _laserRv >> _forwardSafetyDist >> _sideSafetyDist >>
      _turnAxis;
 
  // timestamp + host
  is >> _timestamp;
  is >> _hostname;
  is >> _loggerTimestamp;
  return true;
}

References _forwardSafetyDist, g2o::RobotData::_hostname, g2o::RawLaser::_laserParams, _laserRv, _laserTv, g2o::RobotData::_loggerTimestamp, _odomPose, g2o::RawLaser::_ranges, g2o::RawLaser::_remissions, _sideSafetyDist, g2o::RobotData::_timestamp, _turnAxis, g2o::SE2::inverse(), and g2o::LaserParameters::laserPose.

Referenced by g2o::Gm2dlIO::readGm2dl(), and g2o::Gm2dlIO::readRobotLaser().

◆ setOdomPose()

void g2o::RobotLaser::setOdomPose ( const SE2 & odomPose )

Definition at line 109 of file robot_laser.cpp.

109{ _odomPose = odomPose; }

g2o::RobotLaser::odomPose

const SE2 & odomPose() const

Definition robot_laser.h:53

References _odomPose, and odomPose().

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

◆ write()

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

virtual

write the data to a stream

Reimplemented from g2o::RawLaser.

Definition at line 84 of file robot_laser.cpp.

                                           {
  os << _laserParams.type << " " << _laserParams.firstBeamAngle << " "
     << _laserParams.fov << " " << _laserParams.angularStep << " "
     << _laserParams.maxRange << " " << _laserParams.accuracy << " "
     << _laserParams.remissionMode << " ";
  os << ranges().size();
  for (size_t i = 0; i < ranges().size(); ++i) os << " " << ranges()[i];
  os << " " << _remissions.size();
  for (size_t i = 0; i < _remissions.size(); ++i) os << " " << _remissions[i];
 
  // odometry pose
  Vector3 p = (_odomPose * _laserParams.laserPose).toVector();
  os << " " << p.x() << " " << p.y() << " " << p.z();
  p = _odomPose.toVector();
  os << " " << p.x() << " " << p.y() << " " << p.z();
 
  // crap values
  os << FIXED(" " << _laserTv << " " << _laserRv << " " << _forwardSafetyDist
                  << " " << _sideSafetyDist << " " << _turnAxis);
  os << FIXED(" " << timestamp() << " " << hostname() << " "
                  << loggerTimestamp());
 
  return os.good();
}

References _forwardSafetyDist, g2o::RawLaser::_laserParams, _laserRv, _laserTv, _odomPose, g2o::RawLaser::_remissions, _sideSafetyDist, _turnAxis, g2o::LaserParameters::accuracy, g2o::LaserParameters::angularStep, g2o::LaserParameters::firstBeamAngle, g2o::LaserParameters::fov, g2o::RobotData::hostname(), g2o::LaserParameters::laserPose, g2o::RobotData::loggerTimestamp(), g2o::LaserParameters::maxRange, g2o::RawLaser::ranges(), g2o::LaserParameters::remissionMode, g2o::RobotData::timestamp(), g2o::SE2::toVector(), and g2o::LaserParameters::type.

Member Data Documentation

◆ _forwardSafetyDist

double g2o::RobotLaser::_forwardSafetyDist

protected

Definition at line 59 of file robot_laser.h.

Referenced by read(), and write().

◆ _laserRv

double g2o::RobotLaser::_laserRv

protected

Definition at line 59 of file robot_laser.h.

Referenced by read(), and write().

◆ _laserTv

double g2o::RobotLaser::_laserTv

protected

velocities and safety distances of the robot.

Definition at line 59 of file robot_laser.h.

Referenced by read(), and write().

◆ _odomPose

SE2 g2o::RobotLaser::_odomPose

protected

Definition at line 57 of file robot_laser.h.

Referenced by read(), setOdomPose(), and write().

◆ _sideSafetyDist

double g2o::RobotLaser::_sideSafetyDist

protected

Definition at line 59 of file robot_laser.h.

Referenced by read(), and write().

◆ _turnAxis

double g2o::RobotLaser::_turnAxis

protected

Definition at line 59 of file robot_laser.h.

Referenced by read(), and write().

◆ EIGEN_MAKE_ALIGNED_OPERATOR_NEW

g2o::RobotLaser::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 45 of file robot_laser.h.

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

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

Public Member Functions

Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RobotLaser()

◆ ~RobotLaser()

Member Function Documentation

◆ laserPose()

◆ odomPose()

◆ read()

◆ setOdomPose()

◆ write()

Member Data Documentation

◆ _forwardSafetyDist

◆ _laserRv

◆ _laserTv

◆ _odomPose

◆ _sideSafetyDist

◆ _turnAxis

◆ EIGEN_MAKE_ALIGNED_OPERATOR_NEW