MultiRayShape Class Reference

Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner. More...

#include <MultiRayShape.hh>

Inheritance diagram for MultiRayShape:

List of all members.

Public Member Functions
	MultiRayShape (CollisionPtr parent)
	Constructor.
virtual	~MultiRayShape ()
	Destructor.
virtual void	Load (sdf::ElementPtr &_sdf)
	Load a multi-ray shape from SDF.
virtual void	Init ()
	Init the shape.
void	SetDisplayType (const std::string &type)
double	GetRange (int index)
	Get detected range for a ray.
double	GetRetro (int index)
	Get detected retro (intensity) value for a ray.
int	GetFiducial (int index)
	Get detected fiducial value for a ray.
double	GetMinRange () const
	Get the minimum range.
double	GetMaxRange () const
	Get the maximum range.
double	GetResRange () const
	Get the range resolution.
int	GetSampleCount () const
	Get the horizontal sample count.
double	GetScanResolution () const
	Get the range resolution.
math::Angle	GetMinAngle () const
	Get the minimum angle.
math::Angle	GetMaxAngle () const
	Get the maximum angle.
int	GetVerticalSampleCount () const
	Get the vertical sample count.
double	GetVerticalScanResolution () const
	Get the vertical range resolution.
math::Angle	GetVerticalMinAngle () const
	Get the vertical min angle.
math::Angle	GetVerticalMaxAngle () const
	Get the vertical max angle.
void	Update ()
	Update the collision.
void	FillShapeMsg (msgs::Geometry &)
virtual void	ProcessMsg (const msgs::Geometry &)
Protected Member Functions
virtual void	UpdateRays ()=0
	Physics engine specific method for updating the rays.
virtual void	AddRay (const math::Vector3 &start, const math::Vector3 &end)
	Add a ray to the collision.
Protected Attributes
std::vector< RayShapePtr >	rays
	Ray data.
math::Vector3	offset
sdf::ElementPtr	rayElem
sdf::ElementPtr	scanElem
sdf::ElementPtr	horzElem
sdf::ElementPtr	vertElem
sdf::ElementPtr	rangeElem

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Detailed Description

Laser collision contains a set of ray-collisions, structured to simulate a laser range scanner.

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Member Function Documentation

double GetRange

(

int

index

)

Get detected range for a ray.

Returns:

Returns DBL_MAX for no detection.

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The documentation for this class was generated from the following file:

• MultiRayShape.hh