conscience_core::lidar::directions Namespace Reference

Classes
struct	CscAvailableDirection

Functions
double	estimateFreeDistanceForLidarScan (double directionYawRads, const mrpt::obs::CObservation2DRangeScan &scan, double robotWidthMeters, double robotLengthMeters, double minClusterDistanceMeters, int minClusterSize, double maxDepthMeters)
optional< pair< int, double > >	getBestDirectionForScan (CObservation2DRangeScan *scan, const vector< CscAvailableDirection > &authorizedDirections, double robotWidth, double robotLength, map< int, double > *computedDirections)
void	saveScanWithBestDirectionAsPng (const mrpt::obs::CObservation2DRangeScan &scan, double bestYaw, const std::string &bestDirName, const fs::path &filename, double robotWidth, double robotLength)

Variables
struct CSC_DLL_IMPORTEXPORT	CscAvailableDirection
static const CscAvailableDirection	AVAILABLE_DIRECTION_FORWARD = {0.0, "forward"}
static const CscAvailableDirection	AVAILABLE_DIRECTION_LEFT = {M_PI_2, "left"}
static const CscAvailableDirection	AVAILABLE_DIRECTION_RIGHT = {-M_PI_2, "right"}
static const CscAvailableDirection	AVAILABLE_DIRECTION_BACK = {M_PI, "back"}
static const vector< CscAvailableDirection >	AVAILABLE_ALL_DIRECTIONS

Function Documentation

estimateFreeDistanceForLidarScan()

double conscience_core::lidar::directions::estimateFreeDistanceForLidarScan	(	double	directionYawRads,
		const mrpt::obs::CObservation2DRangeScan &	scan,
		double	robotWidthMeters,
		double	robotLengthMeters,
		double	minClusterDistanceMeters,
		int	minClusterSize,
		double	maxDepthMeters
	)

getBestDirectionForScan()

optional< pair< int, double > > conscience_core::lidar::directions::getBestDirectionForScan	(	CObservation2DRangeScan *	scan,
		const vector< CscAvailableDirection > &	authorizedDirections,
		double	robotWidth,
		double	robotLength,
		map< int, double > *	computedDirections
	)

saveScanWithBestDirectionAsPng()

void conscience_core::lidar::directions::saveScanWithBestDirectionAsPng	(	const mrpt::obs::CObservation2DRangeScan &	scan,
		double	bestYaw,
		const std::string &	bestDirName,
		const fs::path &	filename,
		double	robotWidth,
		double	robotLength
	)

Variable Documentation

AVAILABLE_ALL_DIRECTIONS

const vector<CscAvailableDirection> conscience_core::lidar::directions::AVAILABLE_ALL_DIRECTIONS

static

Initial value:

= {
    AVAILABLE_DIRECTION_FORWARD,
    AVAILABLE_DIRECTION_LEFT,
    AVAILABLE_DIRECTION_RIGHT,
    AVAILABLE_DIRECTION_BACK}

AVAILABLE_DIRECTION_BACK

const CscAvailableDirection conscience_core::lidar::directions::AVAILABLE_DIRECTION_BACK = {M_PI, "back"}

static

AVAILABLE_DIRECTION_FORWARD

const CscAvailableDirection conscience_core::lidar::directions::AVAILABLE_DIRECTION_FORWARD = {0.0, "forward"}

static

AVAILABLE_DIRECTION_LEFT

const CscAvailableDirection conscience_core::lidar::directions::AVAILABLE_DIRECTION_LEFT = {M_PI_2, "left"}

static

AVAILABLE_DIRECTION_RIGHT

const CscAvailableDirection conscience_core::lidar::directions::AVAILABLE_DIRECTION_RIGHT = {-M_PI_2, "right"}

static

CscAvailableDirection

struct CSC_DLL_IMPORTEXPORT conscience_core::lidar::directions::CscAvailableDirection