RaySensor Class Reference

Sensor with one or more rays. More...

#include <RaySensor.hh>

Inheritance diagram for RaySensor:

List of all members.

Public Member Functions
	RaySensor ()
	Constructor.
virtual	~RaySensor ()
	Destructor.
virtual void	Load (sdf::ElementPtr &_sdf)
	Load the ray using parameter from an SDF.
virtual void	Load ()
	Load the sensor with default parameters.
virtual void	Init ()
	Initialize the ray.
math::Angle	GetAngleMin () const
	Get the minimum angle.
math::Angle	GetAngleMax () const
	Get the maximum angle.
double	GetAngleResolution () const
	Get radians between each range.
double	GetRangeMin () const
	Get the minimum range.
double	GetRangeMax () const
	Get the maximum range.
double	GetRangeResolution () const
	Get the range resolution.
int	GetRayCount () const
	Get the ray count.
int	GetRangeCount () const
	Get the range count.
int	GetVerticalRayCount () const
	Get the vertical scan line count.
int	GetVerticalRangeCount () const
	Get the vertical scan line count.
math::Angle	GetVerticalAngleMin () const
	Get the vertical scan bottom angle.
math::Angle	GetVerticalAngleMax () const
	Get the vertical scan line top angle.
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.
Protected Member Functions
virtual void	UpdateImpl (bool _force)
	Update the sensor information.
virtual void	Fini ()
	Finalize the ray.

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Detailed Description

Sensor with one or more rays.

This sensor cast rays into the world, tests for intersections, and reports the range to the nearest object. It is used by ranging sensor models (e.g., sonars and scanning laser range finders).

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Member Function Documentation

math::Angle GetAngleMax

(

)

const

Get the maximum angle.

Returns:

the maximum angle

math::Angle GetAngleMin

(

)

const

Get the minimum angle.

Returns:

The minimum angle

double GetRange

(

int

index

)

Get detected range for a ray.

Returns:

Returns DBL_MAX for no detection.

int GetRangeCount

(

)

const

Get the range count.

Returns:

The number of ranges

double GetRangeMax

(

)

const

Get the maximum range.

Returns:

The maximum range

double GetRangeMin

(

)

const

Get the minimum range.

Returns:

The minimum range

int GetRayCount

(

)

const

Get the ray count.

Returns:

The number of rays

math::Angle GetVerticalAngleMax

(

)

const

Get the vertical scan line top angle.

Returns:

The Maximum angle of the scan block

math::Angle GetVerticalAngleMin

(

)

const

Get the vertical scan bottom angle.

Returns:

The minimum angle of the scan block

int GetVerticalRangeCount

(

)

const

Get the vertical scan line count.

Returns:

The number of scan lines vertically

int GetVerticalRayCount

(

)

const

Get the vertical scan line count.

Returns:

The number of scan lines vertically

virtual void Load

(

sdf::ElementPtr &

_sdf

)

[virtual]

Load the ray using parameter from an SDF.

Parameters:

node	The XMLConfig node

Reimplemented from Sensor.

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

• RaySensor.hh