/home/laradmin/lar/perception/lidar_egomotion/src/types_declaration.h File Reference

Generic types declaration for use in the lidar_egomotion algorithm. More...

#include <iostream>
#include <iomanip>
#include <boost/shared_ptr.hpp>
#include <boost/bind.hpp>
#include <vector>
#include <opencv/cv.h>
#include <opencv/cxcore.h>
#include <opencv/cxcore.hpp>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

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Classes
struct	ray_config_t
struct	ray_definition
struct	ray_history
struct	ray_measurment_t
struct	s_pose
struct	t_flag
	This structure contains global flags parameters. More...
struct	t_fps
Defines
#define	deg2rad(a)   (a*M_PI/180.)
#define	rad2deg(a)   (a*180./M_PI)
Typedefs
typedef struct s_pose	t_pose
typedef boost::shared_ptr< t_pose >	t_posePtr
Functions
void	AddToHistory (ray_definition *rays, ray_history *h_rays)
void	ClearRays (ray_definition *src)
void	ClearRays (ray_measurment_t *rays, ray_config_t *ray_config)
void	CopyRays (ray_definition *src, ray_definition *dst)
void	CopyRays (ray_config_t *cfg, ray_measurment_t *src, ray_measurment_t *dst)
double	get_fps (double dt, t_fps *acc)
double	get_m_phi (t_pose &i)
double	get_m_vl (t_pose &i)
double	get_orientation (t_pose &i)
double	get_phi (t_pose &i)
double	get_vl (t_pose &i)
void	InitRayDefinition (ray_definition *src)
void	InitRayHistory (ray_history *h_rays)
double	max_orientation (const std::vector< t_posePtr > &vec)
double	max_x (const std::vector< t_posePtr > &vec)
double	max_y (const std::vector< t_posePtr > &vec)
double	min_orientation (const std::vector< t_posePtr > &vec)
double	min_x (const std::vector< t_posePtr > &vec)
double	min_y (const std::vector< t_posePtr > &vec)
void	PointCloud2Ray (pcl::PointCloud< pcl::PointXYZ > &point_cloud, ray_definition *dst)
void	Pointcloud2Rays (pcl::PointCloud< pcl::PointXYZ > &point_cloud, ray_config_t *config, ray_measurment_t *rays)
void	RemoveOverlappingPoints (ray_definition *src)
void	RemoveOverlappingPoints (ray_config_t *config, ray_measurment_t *rays)
int	Theta2Index (double theta, ray_config_t *config)

---

Detailed Description

Generic types declaration for use in the lidar_egomotion algorithm.

Definition in file types_declaration.h.

---

Define Documentation

#define deg2rad

(

a

)

(a*M_PI/180.)

Definition at line 48 of file types_declaration.h.

#define rad2deg

(

a

)

(a*180./M_PI)

Definition at line 49 of file types_declaration.h.

---

Typedef Documentation

typedef struct s_pose t_pose

typedef boost::shared_ptr<t_pose> t_posePtr

Definition at line 135 of file types_declaration.h.

---

Function Documentation

void AddToHistory	(	ray_definition *	rays,
		ray_history *	h_rays
	)

Definition at line 311 of file types_implementation.cpp.

void ClearRays

(

ray_definition *

src

)

Definition at line 242 of file types_implementation.cpp.

void ClearRays	(	ray_measurment_t *	rays,
		ray_config_t *	ray_config
	)

Definition at line 236 of file types_implementation.cpp.

void CopyRays	(	ray_definition *	src,
		ray_definition *	dst
	)

Definition at line 274 of file types_implementation.cpp.

void CopyRays	(	ray_config_t *	cfg,
		ray_measurment_t *	src,
		ray_measurment_t *	dst
	)

Definition at line 287 of file types_implementation.cpp.

double get_fps	(	double	dt,
		t_fps *	acc
	)

Definition at line 332 of file types_implementation.cpp.

double get_m_phi

(

t_pose &

i

)

Definition at line 34 of file types_implementation.cpp.

double get_m_vl

(

t_pose &

i

)

Definition at line 39 of file types_implementation.cpp.

double get_orientation

(

t_pose &

i

)

Definition at line 49 of file types_implementation.cpp.

double get_phi

(

t_pose &

i

)

Definition at line 44 of file types_implementation.cpp.

double get_vl

(

t_pose &

i

)

Definition at line 54 of file types_implementation.cpp.

void InitRayDefinition

(

ray_definition *

src

)

Definition at line 253 of file types_implementation.cpp.

void InitRayHistory

(

ray_history *

h_rays

)

Definition at line 305 of file types_implementation.cpp.

double max_orientation

(

const std::vector< t_posePtr > &

vec

)

Definition at line 59 of file types_implementation.cpp.

double max_x

(

const std::vector< t_posePtr > &

vec

)

Definition at line 83 of file types_implementation.cpp.

double max_y

(

const std::vector< t_posePtr > &

vec

)

Definition at line 107 of file types_implementation.cpp.

double min_orientation

(

const std::vector< t_posePtr > &

vec

)

Definition at line 71 of file types_implementation.cpp.

double min_x

(

const std::vector< t_posePtr > &

vec

)

Definition at line 95 of file types_implementation.cpp.

double min_y

(

const std::vector< t_posePtr > &

vec

)

Definition at line 119 of file types_implementation.cpp.

void PointCloud2Ray	(	pcl::PointCloud< pcl::PointXYZ > &	point_cloud,
		ray_definition *	dst
	)

Definition at line 222 of file types_implementation.cpp.

void Pointcloud2Rays	(	pcl::PointCloud< pcl::PointXYZ > &	point_cloud,
		ray_config_t *	config,
		ray_measurment_t *	rays
	)

Definition at line 181 of file types_implementation.cpp.

void RemoveOverlappingPoints

(

ray_definition *

src

)

Definition at line 160 of file types_implementation.cpp.

void RemoveOverlappingPoints	(	ray_config_t *	config,
		ray_measurment_t *	rays
	)

Definition at line 132 of file types_implementation.cpp.

int Theta2Index	(	double	theta,
		ray_config_t *	config
	)

Definition at line 171 of file types_implementation.cpp.