g2o::RobotLaser Class Reference

laser measurement obtained by a robot More...

#include <robot_laser.h>

Inheritance diagram for g2o::RobotLaser:

Collaboration diagram for g2o::RobotLaser:

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.) {}

References _forwardSafetyDist, _laserRv, _laserTv, _sideSafetyDist, _turnAxis, and g2o::RawLaser::RawLaser().

~RobotLaser()

g2o::RobotLaser::~RobotLaser

(

)

Definition at line 48 of file robot_laser.cpp.

{}

Member Function Documentation

laserPose()

SE2 g2o::RobotLaser::laserPose ( ) const

inline

Definition at line 52 of file robot_laser.h.

{ return _odomPose * _laserParams.laserPose; }

References g2o::RawLaser::_laserParams, and _odomPose.

Referenced by main().

odomPose()

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

inline

Definition at line 53 of file robot_laser.h.

{ return _odomPose; }

References _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, and _turnAxis.

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.

{ _odomPose = odomPose; }

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::RobotData::hostname(), g2o::RobotData::loggerTimestamp(), g2o::RawLaser::ranges(), and g2o::RobotData::timestamp().

Member Data Documentation

_forwardSafetyDist

double g2o::RobotLaser::_forwardSafetyDist

protected

Definition at line 59 of file robot_laser.h.

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

_laserRv

double g2o::RobotLaser::_laserRv

protected

Definition at line 59 of file robot_laser.h.

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

_odomPose

SE2 g2o::RobotLaser::_odomPose

protected

Definition at line 57 of file robot_laser.h.

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

_sideSafetyDist

double g2o::RobotLaser::_sideSafetyDist

protected

Definition at line 59 of file robot_laser.h.

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

_turnAxis

double g2o::RobotLaser::_turnAxis

protected

Definition at line 59 of file robot_laser.h.

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

EIGEN_MAKE_ALIGNED_OPERATOR_NEW

g2o::RobotLaser::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 45 of file robot_laser.h.

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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