Scanner2DModel Class Reference

The Scanner2DModel encapsulate the basic model of a 2 dimensional range scanning device such as SICK or Hokyuo laser range scanners. More...

#include <Scanner2DModel.hpp>

Inherits SensorModel.

Classes
class	Scanner2DModelCache
	cache to allow storing state information More...

Public Types
typedef rw::core::Ptr< Scanner2DModel >	Ptr
	smart pointer type to this class
Public Types inherited from SensorModel
typedef rw::core::Ptr< SensorModel >	Ptr
	smart pointer type
Public Types inherited from Stateless
typedef rw::core::Ptr< Stateless >	Ptr
	Smart pointer type for Stateless.

Public Member Functions
	Scanner2DModel (const std::string &name, double angularRangeInRad, int maxDataPoints, rw::core::Ptr< rw::kinematics::Frame > frame)
	constructor More...
virtual	~Scanner2DModel ()
	Destructor. Closes scanner connection if not already closed.
rw::geometry::PointCloud &	getScan (const rw::kinematics::State &state)
	get handle to point cloud data in state. More...
void	setScan (const rw::geometry::PointCloud &data, const rw::kinematics::State &state)
	set point cloud data in state More...
std::pair< double, double >	getAngularRange () const
	Returns the min and max angular range of the scanner, where the angles represent the beginning and end of scanning in the z-x plane. Hence, angles represent rotation of z-axis around the y-axis. Normally range would be something like -170 to 170 degree for a Hokyo or Sick scanner. More...
size_t	getMeasurementCount () const
	Returns the number of scan points.
std::pair< double, double >	getDistanceRange () const
	get the min an max range in meters that is scannable by the 2D scanner More...
void	setDistanceRange (const std::pair< double, double > &range)
	set distance range More...
void	setDistanceRange (double min, double max)
	set distance range More...
Public Member Functions inherited from SensorModel
	SensorModel (const std::string &name, rw::core::Ptr< kinematics::Frame > frame)
	constructor More...
	SensorModel (const std::string &name, rw::core::Ptr< kinematics::Frame > frame, const std::string &description)
	constructor More...
virtual	~SensorModel ()
	destructor
void	setName (const std::string &name)
	sets the name of this sensor More...
void	setDescription (const std::string &description)
	sets the description of this sensor More...
const std::string &	getName () const
	returns the name of this sensor More...
const std::string &	getDescription () const
	returns a description of this sensor More...
kinematics::Frame *	getFrame () const
	The frame to which the sensor is attached. More...
virtual void	attachTo (rw::core::Ptr< kinematics::Frame > frame)
	Sets the frame to which the sensor should be attached. More...
rw::core::PropertyMap &	getPropertyMap ()
	gets the propertymap of this sensor
const rw::core::PropertyMap &	getPropertyMap () const
	gets the propertymap of this sensor
Public Member Functions inherited from Stateless
virtual	~Stateless ()
	destructor
virtual void	registerIn (State &state)
	initialize this stateless data to a specific state More...
virtual void	registerIn (StateStructure::Ptr state)
	register this stateless object in a statestructure.
virtual void	unregister ()
	unregisters all state data of this stateless object
StateStructure::Ptr	getStateStructure ()
	Get the state structure. More...
const StateStructure::Ptr	getStateStructure () const
	Get the state structure. More...
bool	isRegistered ()
	Check if object has registered its state. More...

Protected Attributes
rw::kinematics::StatelessData< int >	_sstate
size_t	_width
std::pair< double, double >	_angleRange
std::pair< double, double >	_distRange
Protected Attributes inherited from Stateless
bool	_registered
	True if object has registered its state.
std::vector< rw::core::Ptr< StateData > >	_datas
	Data.
StateStructure::Ptr	_stateStruct
	The state structure.

Additional Inherited Members
Protected Member Functions inherited from Stateless
	Stateless ()
	constructor
template<class T >
void	add (StatelessData< T > &data)
	implementations of sensor should add all their stateless data on initialization
void	add (StateData *data)
	Add data. More...
void	add (rw::core::Ptr< StateData > data)
	implementations of sensor should add all their state data on initialization

Detailed Description

The Scanner2DModel encapsulate the basic model of a 2 dimensional range scanning device such as SICK or Hokyuo laser range scanners.

The model supports any range scanner that measures distance in an arc around the origin of the sensor. The scanner scans in the z-x plane with z-axis being the 0 angle measurement.

TODO: enable the selection of internal format, either pointcloud (large) or range-array (compact).

Constructor & Destructor Documentation

Scanner2DModel()

Scanner2DModel	(	const std::string &	name,
		double	angularRangeInRad,
		int	maxDataPoints,
		rw::core::Ptr< rw::kinematics::Frame >	frame
	)

constructor

Parameters

name	[in] name of scanner sensor
angularRangeInRad	[in] angular range in rad, with middle scan point pointin along z-axis
maxDataPoints	[in] the number of scan points
frame	[in] the sensor frame

Member Function Documentation

getAngularRange()

std::pair<double, double> getAngularRange ( ) const

inline

Returns the min and max angular range of the scanner, where the angles represent the beginning and end of scanning in the z-x plane. Hence, angles represent rotation of z-axis around the y-axis. Normally range would be something like -170 to 170 degree for a Hokyo or Sick scanner.

Returns

Angular range in radians

getDistanceRange()

std::pair<double, double> getDistanceRange ( ) const

inline

get the min an max range in meters that is scannable by the 2D scanner

Returns

range in meters

getScan()

rw::geometry::PointCloud& getScan

(

const rw::kinematics::State &

state

)

get handle to point cloud data in state.

Parameters

state

[in] the state with point cloud data

setDistanceRange() [1/2]

void setDistanceRange ( const std::pair< double, double > &  range )

inline

set distance range

Parameters

range

setDistanceRange() [2/2]

void setDistanceRange ( double  min, double  max  )

inline

set distance range

Parameters

min	documentation missing !
max	documentation missing !

setScan()

void setScan	(	const rw::geometry::PointCloud &	data,
		const rw::kinematics::State &	state
	)

set point cloud data in state

Parameters

data	[in] point cloud data to set
state	[in] state in which to set the point cloud

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

• Scanner2DModel.hpp