LaserScan Class Reference

LaserScan Class Reference#

Beluga ROS: beluga_ros::LaserScan Class Reference
Beluga ROS
beluga_ros::LaserScan Class Reference

Thin wrapper type for 2D sensor_msgs/LaserScan messages. More...

#include <laser_scan.hpp>

Inheritance diagram for beluga_ros::LaserScan:
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Collaboration diagram for beluga_ros::LaserScan:
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Public Types

using Scalar = double
 Range type.
 

Public Member Functions

 LaserScan (beluga_ros::msg::LaserScanConstSharedPtr scan, Sophus::SE3d origin=Sophus::SE3d(), std::size_t max_beams=std::numeric_limits< std::size_t >::max(), Scalar min_range=std::numeric_limits< Scalar >::min(), Scalar max_range=std::numeric_limits< Scalar >::max())
 
const auto & origin () const
 Get the laser scan frame origin in the filter frame.
 
auto angles () const
 Get laser scan measurement angles as a range.
 
auto ranges () const
 Get laser scan range measurements as a range.
 
auto min_range () const
 Get the minimum range measurement.
 
auto max_range () const
 Get the maximum range measurement.
 
- Public Member Functions inherited from beluga::BaseLaserScan< LaserScan >
auto points_in_cartesian_coordinates () const
 
auto points_in_polar_coordinates () const
 

Detailed Description

Thin wrapper type for 2D sensor_msgs/LaserScan messages.

Constructor & Destructor Documentation

◆ LaserScan()

beluga_ros::LaserScan::LaserScan ( beluga_ros::msg::LaserScanConstSharedPtr  scan,
Sophus::SE3d  origin = Sophus::SE3d(),
std::size_t  max_beams = std::numeric_limits<std::size_t>::max(),
Scalar  min_range = std::numeric_limits<Scalar>::min(),
Scalar  max_range = std::numeric_limits<Scalar>::max() 
)
inlineexplicit

Constructor.

Parameters
scanLaser scan message.
originLaser scan frame origin in the filter frame. Note it is a transform in 3D because the frame lidars typically report data in is in general not coplanar with the plane on which 2D localization operates.
max_beamsMaximum number of beams to consider.
min_rangeMinimum allowed range value (in meters).
max_rangeMaximum allowed range value (in meters).

The documentation for this class was generated from the following file:
  • /home/runner/work/beluga/beluga/beluga_ros/include/beluga_ros/laser_scan.hpp