PMScan Struct Reference

Structure describing a laser scan. More...

#include <polar_match.h>

List of all members.

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.

Detailed Description

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.


Member Data Documentation

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.


The documentation for this struct was generated from the following file:
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lidar_egomotion
Author(s): Jorge Almeida
autogenerated on Wed Jul 23 04:34:39 2014