LaserScan Class Reference#
Beluga ROS
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beluga_ros::LaserScan Class Reference
Thin wrapper type for 2D sensor_msgs/LaserScan
messages.
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#include <laser_scan.hpp>
Inheritance diagram for beluga_ros::LaserScan:
Collaboration diagram for beluga_ros::LaserScan:
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()
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inlineexplicit |
Constructor.
- Parameters
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scan Laser scan message. origin Laser 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_beams Maximum number of beams to consider. min_range Minimum allowed range value (in meters). max_range Maximum 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
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