vpScanPoint Class Reference

#include <visp3/sensor/vpScanPoint.h>

Public Member Functions
	vpScanPoint ()
	vpScanPoint (const vpScanPoint &scanpoint)
	vpScanPoint (double r_dist, double h_angle, double v_angle)
virtual	~vpScanPoint ()
void	setPolar (double r_dist, double h_angle, double v_angle)
double	getRadialDist () const
double	getVAngle () const
double	getHAngle () const
double	getX () const
double	getY () const
double	getZ () const

Friends
std::ostream &	operator<< (std::ostream &s, const vpScanPoint &p)
bool	operator== (const vpScanPoint &sp1, const vpScanPoint &sp2)
bool	operator!= (const vpScanPoint &sp1, const vpScanPoint &sp2)

Detailed Description

Class that defines a single laser scanner point.

This class stores data of a single scan point as:

• cartesian coordinates in the 3D space that are available throw getX(), getY() and getZ() methods.
• polar coordinates that are the native data provided by a laser scanner. By polar coordinates we mean here the radial distance and the horizontal angle of a point in the scanner layer and an additional vertical angle that gives the orientation of the layer.

Examples:

SickLDMRS-Process.cpp.

Definition at line 73 of file vpScanPoint.h.

Constructor & Destructor Documentation

vpScanPoint::vpScanPoint ( )

inline

Default constructor.

Definition at line 79 of file vpScanPoint.h.

vpScanPoint::vpScanPoint ( const vpScanPoint &  scanpoint )

inline

Copy constructor.

Definition at line 81 of file vpScanPoint.h.

vpScanPoint::vpScanPoint ( double  r_dist, double  h_angle, double  v_angle  )

inline

Set the polar point coordinates.

Parameters

r_dist	: Radial distance in meter.
h_angle	: Horizontal angle in radian.
v_angle	: Vertical angle in radian.

Definition at line 93 of file vpScanPoint.h.

virtual vpScanPoint::~vpScanPoint ( )

inlinevirtual

Destructor that does nothing.

Definition at line 100 of file vpScanPoint.h.

Member Function Documentation

double vpScanPoint::getHAngle ( ) const

inline

Returns the polar elevation (vertical) angle in radian.

Examples:

SickLDMRS-Process.cpp.

Definition at line 124 of file vpScanPoint.h.

double vpScanPoint::getRadialDist ( ) const

inline

Return the radial distance in meter.

Examples:

SickLDMRS-Process.cpp.

Definition at line 116 of file vpScanPoint.h.

double vpScanPoint::getVAngle ( ) const

inline

Returns the polar elevation (vertical) angle in radian.

Definition at line 120 of file vpScanPoint.h.

double vpScanPoint::getX ( ) const

inline

Returns the cartesian x coordinate.

The x and y axis define an horizontal plane, where x is oriented positive in front of the laser while y on the left side.

Definition at line 132 of file vpScanPoint.h.

double vpScanPoint::getY ( ) const

inline

Returns the cartesian y coordinate.

The x and y axis define an horizontal plane, where x is oriented positive in front of the laser while y on the left side.

Definition at line 140 of file vpScanPoint.h.

double vpScanPoint::getZ ( ) const

inline

Returns the cartesian z coordinate.

The z axis is vertical and oriented in direction of the sky.

Definition at line 147 of file vpScanPoint.h.

References operator<<.

void vpScanPoint::setPolar ( double  r_dist, double  h_angle, double  v_angle  )

inline

Set the polar point coordinates.

Parameters

r_dist	: Radial distance in meter.
h_angle	: Horizontal angle in radian.
v_angle	: Vertical angle in radian.

Definition at line 107 of file vpScanPoint.h.

Referenced by vpSickLDMRS::measure().

Friends And Related Function Documentation

bool operator!= ( const vpScanPoint &  sp1, const vpScanPoint &  sp2  )

friend

Returns true if sp1 and sp2 are different; otherwire returns false.

Definition at line 178 of file vpScanPoint.h.

std::ostream & operator<< ( std::ostream &  s, const vpScanPoint &  p  )

friend

Print the values of the scan point on the output stream. Data are separated by a white space. Data that are print are first the polar coordinates, than the cartesian coordinates:

• the radial distance in meter
• the horizontal angle in radian
• the vertical angle in radian
• the cartesian X coordinate
• the cartesian Y coordinate
• the cartesian Z coordinate

The following code

#include <iostream>
#include <visp3/sensor/vpScanPoint.h>

int main()
{
  vpScanPoint p;
  double radialDistance = 3; // 3 meters
  double horizontalAngle = 1.12; // 1.12 radian
  double verticalAngle = 0; // 0 radian for a horizontal layer

  p.setPolar(radialDistance, horizontalAngle, verticalAngle);

  std::cout << p << std::endl;
}

will produce the prints

"3 1.12 0 1.307047339 2.700301327 0"

Definition at line 237 of file vpScanPoint.h.

Referenced by getZ().

bool operator== ( const vpScanPoint &  sp1, const vpScanPoint &  sp2  )

friend

Returns true if sp1 and sp2 are equal; otherwire returns false.

Definition at line 156 of file vpScanPoint.h.