Visual Servoing Platform  version 3.2.1 under development (2019-10-20) under development (2019-10-20)
vpLaserScan Class Reference

#include <visp3/sensor/vpLaserScan.h>

Public Member Functions

 vpLaserScan ()
 
 vpLaserScan (const vpLaserScan &scan)
 
virtual ~vpLaserScan ()
 
void addPoint (const vpScanPoint &p)
 
void clear ()
 
std::vector< vpScanPointgetScanPoints ()
 
vpLaserScanoperator= (const vpLaserScan &scan)=default
 
void setMeasurementId (const unsigned short &id)
 
void setStartTimestamp (const double &start_timestamp)
 
void setEndTimestamp (const double &end_timestamp)
 
void setNumSteps (const unsigned short &num_steps)
 
void setStartAngle (const short &start_angle)
 
void setStopAngle (const short &stop_angle)
 
void setNumPoints (const unsigned short &num_points)
 
double getStartTimestamp ()
 
double getEndTimestamp ()
 

Detailed Description

Implements a laser scan data structure that contains especially the list of scanned points that have been recorded for this laser scan.

Other data as the start/stop angle, the start/end timestamp are also considered.

Examples:
SickLDMRS-Acq.cpp, and SickLDMRS-Process.cpp.

Definition at line 64 of file vpLaserScan.h.

Constructor & Destructor Documentation

◆ vpLaserScan() [1/2]

vpLaserScan::vpLaserScan ( )
inline

Default constructor that initialize all the internal variable to zero.

Definition at line 69 of file vpLaserScan.h.

◆ vpLaserScan() [2/2]

vpLaserScan::vpLaserScan ( const vpLaserScan scan)
inline

Copy constructor.

Definition at line 75 of file vpLaserScan.h.

◆ ~vpLaserScan()

virtual vpLaserScan::~vpLaserScan ( )
inlinevirtual

Default destructor that does nothing.

Definition at line 88 of file vpLaserScan.h.

Member Function Documentation

◆ addPoint()

void vpLaserScan::addPoint ( const vpScanPoint p)
inline

Add the scan point at the end of the list.

Definition at line 90 of file vpLaserScan.h.

Referenced by vpSickLDMRS::measure().

◆ clear()

void vpLaserScan::clear ( )
inline

Drop the list of points.

Definition at line 92 of file vpLaserScan.h.

Referenced by vpSickLDMRS::measure().

◆ getEndTimestamp()

double vpLaserScan::getEndTimestamp ( )
inline

Return the measurement end time.

Examples:
SickLDMRS-Process.cpp.

Definition at line 118 of file vpLaserScan.h.

◆ getScanPoints()

std::vector<vpScanPoint> vpLaserScan::getScanPoints ( )
inline

Get the list of points.

Examples:
SickLDMRS-Process.cpp.

Definition at line 94 of file vpLaserScan.h.

◆ getStartTimestamp()

double vpLaserScan::getStartTimestamp ( )
inline

Return the measurement start time.

Examples:
SickLDMRS-Process.cpp.

Definition at line 116 of file vpLaserScan.h.

◆ operator=()

vpLaserScan& vpLaserScan::operator= ( const vpLaserScan scan)
default

◆ setEndTimestamp()

void vpLaserScan::setEndTimestamp ( const double &  end_timestamp)
inline

End time of measurement.

Definition at line 106 of file vpLaserScan.h.

Referenced by vpSickLDMRS::measure().

◆ setMeasurementId()

void vpLaserScan::setMeasurementId ( const unsigned short &  id)
inline

Specifies the id of former measurements and increases with every measurement.

Definition at line 102 of file vpLaserScan.h.

Referenced by vpSickLDMRS::measure().

◆ setNumPoints()

void vpLaserScan::setNumPoints ( const unsigned short &  num_points)
inline

Number of measured points of the measurement.

Definition at line 114 of file vpLaserScan.h.

Referenced by vpSickLDMRS::measure().

◆ setNumSteps()

void vpLaserScan::setNumSteps ( const unsigned short &  num_steps)
inline

Angular steps per scanner rotation.

Definition at line 108 of file vpLaserScan.h.

Referenced by vpSickLDMRS::measure().

◆ setStartAngle()

void vpLaserScan::setStartAngle ( const short &  start_angle)
inline

Start angle of the measurement in angular steps.

Definition at line 110 of file vpLaserScan.h.

Referenced by vpSickLDMRS::measure().

◆ setStartTimestamp()

void vpLaserScan::setStartTimestamp ( const double &  start_timestamp)
inline

Start time of measurement.

Definition at line 104 of file vpLaserScan.h.

Referenced by vpSickLDMRS::measure().

◆ setStopAngle()

void vpLaserScan::setStopAngle ( const short &  stop_angle)
inline

Stop angle of the measurement in angular steps.

Definition at line 112 of file vpLaserScan.h.

Referenced by vpSickLDMRS::measure().