ArSensorReading Class Reference

#include <ArSensorReading.h>

List of all members.

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Detailed Description

A class to hold a sensor reading, should be one instance per sensor.

This class holds sensor data and a sensor reading... it can happen that it contains the data for a sonar, but not the reading, in which case the range (from getRange) will be -1, and the counter it was taken (from getCounterTaken) will be 0, also it will never be new (from isNew). If ignoreThisReading returns true then ignore this reading (its still here since this is used for raw data).

Public Member Functions
void	applyEncoderTransform (ArTransform trans)
	Applies a transform to the encoder pose taken.
void	applyTransform (ArTransform trans)
	Applies a transform to the reading position, and where it was taken.
	ArSensorReading (const ArSensorReading &reading)
	Copy constructor.
	ArSensorReading (double xPos=0.0, double yPos=0.0, double thPos=0.0)
	Constructor, the three args are the physical location of the sensor.
bool	getAdjusted (void)
	Applies a transform to the reading position, and where it was taken.
unsigned int	getCounterTaken (void) const
	Gets the counter from when the reading arrived.
ArPose	getEncoderPoseTaken (void) const
	Gets the robot's encoder pose the reading was taken at.
int	getExtraInt (void) const
	Gets the extra int with this reading.
bool	getIgnoreThisReading (void) const
ArPose	getLocalPose (void) const
double	getLocalX (void) const
	Gets the X location of the sensor reading in local coords.
double	getLocalY (void) const
	Gets the Y location of the sensor reading.
ArPose	getPose (void) const
ArPose	getPoseTaken (void) const
	Gets the pose of the robot at which the reading was taken.
unsigned int	getRange (void) const
	Gets the range of the reading.
double	getSensorDX (void) const
	Gets the cosine component of the heading of the sensor reading.
double	getSensorDY (void) const
	Gets the sine component of the heading of the sensor reading.
ArPose	getSensorPosition (void) const
	Gets the sensor's position on the robot.
double	getSensorTh (void) const
	Gets the heading of the sensor on the robot.
double	getSensorX (void) const
	Gets the X location of the sonar on the robot.
double	getSensorY (void) const
	Gets the Y location of the sensor on the robot.
double	getThTaken (void) const
	Gets the th (heading) of the robot when the reading was received.
ArTime	getTimeTaken (void) const
double	getX (void) const
	Gets the X location of the sensor reading.
double	getXTaken (void) const
	Gets the X locaiton of the robot when the reading was received.
double	getY (void) const
	Gets the Y location of the sensor reading.
double	getYTaken (void) const
	Gets the Y location of the robot when the reading was received.
bool	isNew (unsigned int counter) const
	Given the counter from the robot, it returns whether the reading is new.
void	newData (int sx, int sy, ArPose robotPose, ArPose encoderPose, ArTransform trans, unsigned int counter, ArTime timeTaken, bool ignoreThisReading=false, int extraInt=0)
	Takes the data and makes the reading reflect it.
void	newData (int range, ArPose robotPose, ArPose encoderPose, ArTransform trans, unsigned int counter, ArTime timeTaken, bool ignoreThisReading=false, int extraInt=0)
	Takes the data and makes the reading reflect it.
ArSensorReading &	operator= (const ArSensorReading &reading)
	Assignment operator.
void	resetSensorPosition (double xPos, double yPos, double thPos, bool forceComputation=false)
	Resets the sensors idea of its physical location on the robot.
void	setAdjusted (bool adjusted)
	Applies a transform to the reading position, and where it was taken.
void	setExtraInt (int extraInt)
	Sets the extra int.
void	setIgnoreThisReading (bool ignoreThisReading)
	Sets that we should ignore this reading.
virtual	~ArSensorReading ()
	Destructor.
Protected Attributes
bool	myAdjusted
double	myAngleToCenter
unsigned int	myCounterTaken
double	myDistToCenter
ArPose	myEncoderPoseTaken
int	myExtraInt
bool	myIgnoreThisReading
ArPose	myLocalReading
int	myRange
ArPose	myReading
ArPose	myReadingTaken
double	mySensorCos
ArPose	mySensorPos
double	mySensorSin
ArTime	myTimeTaken

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Constructor & Destructor Documentation

ArSensorReading::ArSensorReading (  double  xPos = 0.0, double  yPos = 0.0, double  thPos = 0.0 )

Constructor, the three args are the physical location of the sensor. Parameters: xPos  the x position of the sensor on the robot (mm) yPos  the y position of the sensor on the robot (mm) thPos  the heading of the sensor on the robot (deg)

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Member Function Documentation

void ArSensorReading::applyEncoderTransform (  ArTransform  trans  )

Applies a transform to the encoder pose taken. Parameters: trans  the transform to apply to the encoder pose taken

void ArSensorReading::applyTransform (  ArTransform  trans  )

Applies a transform to the reading position, and where it was taken. Parameters: trans  the transform to apply to the reading and where the reading was taken

unsigned int ArSensorReading::getCounterTaken (  void   )  const [inline]

Gets the counter from when the reading arrived. Returns: the counter from the robot when the sonar reading was taken See also: isNew

int ArSensorReading::getExtraInt (  void   )  const [inline]

Gets the extra int with this reading. Some range devices provide extra device-dependent information with each reading. What that means depends on the range device, if a range device doesn't give the meaning in its constructor description then it has no meaning at all. Note that for all laser like devices this should be a value between 0 - 255 which is the measure of reflectance. It should be 0 if that device doesn't measure reflectance (the default).

bool ArSensorReading::getIgnoreThisReading (  void   )  const [inline]

Gets whether this reading should be ignore or not. e.g. the sensor encountered an error or did not actually detect anything.

ArPose ArSensorReading::getLocalPose (  void   )  const [inline]

Gets the position of the reading Returns: the position of the reading (ie the obstacle where the sonar pinged back)

ArPose ArSensorReading::getPose (  void   )  const [inline]

Gets the position of the reading Returns: the position of the reading (ie where the sonar pinged back)

unsigned int ArSensorReading::getRange (  void   )  const [inline]

Gets the range of the reading. Returns: the distance return from the sensor (how far from the robot)

ArPose ArSensorReading::getSensorPosition (  void   )  const [inline]

Gets the sensor's position on the robot. Returns: the position of the sensor on the robot

bool ArSensorReading::isNew (  unsigned int  counter  )  const [inline]

Given the counter from the robot, it returns whether the reading is new. Parameters: counter  the counter from the robot at the current time Returns: true if the reading was taken on the current loop See also: getCounter

void ArSensorReading::newData (  int  sx, int  sy, ArPose  robotPose, ArPose  encoderPose, ArTransform  trans, unsigned int  counter, ArTime  timeTaken, bool  ignoreThisReading = false, int  extraInt = 0 )

Takes the data and makes the reading reflect it. Parameters: sx  the coords of the sensor return relative to sensor (mm) sy  the coords of the sensor return relative to sensor (mm) robotPose  the robot's pose when the reading was taken encoderPose  the robot's encoder pose when the reading was taken trans  transform of reading from local to global position counter  the counter from the robot when the sensor reading was taken timeTaken  the time the reading was taken ignoreThisReading  if this reading should be ignored or not extraInt  extra laser device-specific value associated with this reading (e.g. SICK LMS-200 reflectance)

void ArSensorReading::newData (  int  range, ArPose  robotPose, ArPose  encoderPose, ArTransform  trans, unsigned int  counter, ArTime  timeTaken, bool  ignoreThisReading = false, int  extraInt = 0 )

Takes the data and makes the reading reflect it. Parameters: range  the distance from the sensor to the sensor return (mm) robotPose  the robot's pose when the reading was taken encoderPose  the robot's encoder pose when the reading was taken trans  the transform from local coords to global coords counter  the counter from the robot when the sensor reading was taken timeTaken  the time the reading was taken ignoreThisReading  if this reading should be ignored or not extraInt  extra laser device-specific value associated with this reading (e.g. SICK LMS-200 reflectance)

void ArSensorReading::resetSensorPosition (  double  xPos, double  yPos, double  thPos, bool  forceComputation = false )

Resets the sensors idea of its physical location on the robot. Parameters: xPos  the x position of the sensor on the robot (mm) yPos  the y position of the sensor on the robot (mm) thPos  the heading of the sensor on the robot (deg) forceComputation  recompute position even if new position is the same as current

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

• ArSensorReading.h
• ArSensorReading.cpp

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