Structure describing a laser scan. More...
#include <polar_match.h>
Public Attributes | |
| int | bad [PM_L_POINTS] |
| Tag describing the validity of a range measurement. 0 if OK; sources of invalidity - out of range reading; reading belongs to moving object (not implemented); occlusion; mixed pixel. | |
| PM_TYPE | r [PM_L_POINTS] |
| [cm] Laser range readings. 0 or negative ranges denote invalid readings. | |
| PM_TYPE | rx |
| [cm] Robot odometry X coordinate. | |
| PM_TYPE | ry |
| [cm] Robot odometry Y coordinate. | |
| int | seg [PM_L_POINTS] |
| Describes which segment the range reading belongs to. | |
| double | t |
| [s] Time when scan was taken. | |
| PM_TYPE | th |
| [rad] Robot orientation. | |
| PM_TYPE | x [PM_L_POINTS] |
| [cm] Laser reading X coordinates in Cartesian coordinates. | |
| PM_TYPE | y [PM_L_POINTS] |
| [cm] Laser reading Y coordinates in Cartesian coordinates. | |
Structure describing a laser scan.
The robot pose (rx,ry,th) describes the odometry center if PM_LASER_Y does not equal 0, or the laser center if PM_LASER_Y=0.
In a laser scan, the middle laser bearing coincides with the laser coordinate frame's Y axis.
TODO: Consider using doubles for rx,ry in large environments.
Definition at line 128 of file polar_match.h.
| int PMScan::bad[PM_L_POINTS] |
Tag describing the validity of a range measurement. 0 if OK; sources of invalidity - out of range reading; reading belongs to moving object (not implemented); occlusion; mixed pixel.
Definition at line 137 of file polar_match.h.
| PM_TYPE PMScan::r[PM_L_POINTS] |
[cm] Laser range readings. 0 or negative ranges denote invalid readings.
Definition at line 134 of file polar_match.h.
| PM_TYPE PMScan::rx |
[cm] Robot odometry X coordinate.
Definition at line 131 of file polar_match.h.
| PM_TYPE PMScan::ry |
[cm] Robot odometry Y coordinate.
Definition at line 132 of file polar_match.h.
| int PMScan::seg[PM_L_POINTS] |
Describes which segment the range reading belongs to.
Definition at line 140 of file polar_match.h.
| double PMScan::t |
[s] Time when scan was taken.
Definition at line 130 of file polar_match.h.
| PM_TYPE PMScan::th |
[rad] Robot orientation.
Definition at line 133 of file polar_match.h.
| PM_TYPE PMScan::x[PM_L_POINTS] |
[cm] Laser reading X coordinates in Cartesian coordinates.
Definition at line 135 of file polar_match.h.
| PM_TYPE PMScan::y[PM_L_POINTS] |
[cm] Laser reading Y coordinates in Cartesian coordinates.
Definition at line 136 of file polar_match.h.
