/home/runner/work/beluga/beluga/beluga_ros/include/beluga_ros/laser_scan.hpp Source File#
Beluga ROS
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laser_scan.hpp
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68 return ranges::views::iota(0, static_cast<int>(scan_->ranges.size())) | beluga::views::take_evenly(max_beams_) |
Thin wrapper type for 2D sensor_msgs/LaserScan messages.
Definition: laser_scan.hpp:34
const auto & origin() const
Get the laser scan frame origin in the filter frame.
Definition: laser_scan.hpp:64
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())
Definition: laser_scan.hpp:49
auto min_range() const
Get the minimum range measurement.
Definition: laser_scan.hpp:81
auto max_range() const
Get the maximum range measurement.
Definition: laser_scan.hpp:84
auto ranges() const
Get laser scan range measurements as a range.
Definition: laser_scan.hpp:75
auto angles() const
Get laser scan measurement angles as a range.
Definition: laser_scan.hpp:67
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