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:

Collaboration diagram for beluga_ros::LaserScan:

Public Types
using	Scalar = double
	Range type.

Public Member Functions
	LaserScan (sensor_msgs::msg::LaserScan::ConstSharedPtr 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.
std::size_t	size () const
	Get the number of beams in the scan.
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 ( sensor_msgs::msg::LaserScan::ConstSharedPtr  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

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).

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

• /home/runner/work/beluga/beluga/beluga_ros/include/beluga_ros/laser_scan.hpp