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OpenRAVE::SensorBase::LaserSensorData Class Reference

#include <sensor.h>

Inheritance diagram for OpenRAVE::SensorBase::LaserSensorData:
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Public Member Functions

virtual SensorType GetType ()
 
virtual bool serialize (std::ostream &O) const
 Serialize the sensor data to stream in XML format.
 
- Public Member Functions inherited from OpenRAVE::SensorBase::SensorData
virtual ~SensorData ()
 

Public Attributes

std::vector< RaveVector< dReal > > positions
 World coordinates of the origins of each of the photon (laser) rays.
 
std::vector< RaveVector< dReal > > ranges
 Range and direction readings in the form of direction*distance. The direction is in world coordinates. The values should be returned in the order laser detected them in.
 
std::vector< dRealintensity
 Intensity readings.
 
- Public Attributes inherited from OpenRAVE::SensorBase::SensorData
uint64_t __stamp
 time stamp of the sensor data in microseconds. If 0, then the data is uninitialized! (floating-point precision is bad here). This can be either simulation or real time depending on the sensor.
 
Transform __trans
 the coordinate system the sensor was when the measurement was taken, this is taken directly from SensorBase::GetTransform
 

Detailed Description

Definition at line 66 of file sensor.h.

Member Function Documentation

virtual SensorType OpenRAVE::SensorBase::LaserSensorData::GetType ( )
inlinevirtual

Implements OpenRAVE::SensorBase::SensorData.

Definition at line 69 of file sensor.h.

bool OpenRAVE::SensorBase::LaserSensorData::serialize ( std::ostream &  O) const
virtual

Serialize the sensor data to stream in XML format.

Reimplemented from OpenRAVE::SensorBase::SensorData.

Definition at line 1854 of file libopenrave.cpp.

Member Data Documentation

std::vector<dReal> OpenRAVE::SensorBase::LaserSensorData::intensity

Intensity readings.

Definition at line 80 of file sensor.h.

std::vector<RaveVector<dReal> > OpenRAVE::SensorBase::LaserSensorData::positions

World coordinates of the origins of each of the photon (laser) rays.

Each of the photons start from some 3D position and go a particular direction. For most common 2D lasers and the kinect, the starting point from each of the photons is the same, it is also called the focal point. If positions is empty, assume the origin is t.trans for all rays.

Definition at line 78 of file sensor.h.

std::vector<RaveVector<dReal> > OpenRAVE::SensorBase::LaserSensorData::ranges

Range and direction readings in the form of direction*distance. The direction is in world coordinates. The values should be returned in the order laser detected them in.

Definition at line 79 of file sensor.h.


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