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MRXT: The Multi-Robot eXploration Tool
Multi-Robot autonomous exploration and mapping simulator.
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MRXT: The Multi-Robot eXploration Tool
Multi-Robot autonomous exploration and mapping simulator.
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00001 /* 00002 * 00003 * Author: Miguel Julia <mjulia@umh.es> 00004 * 00005 * Date: 2008 00006 * 00007 * Class binMap 00008 * 00009 */ 00010 #ifndef __RANGE__SENSOR__DATA__ 00011 #define __RANGE__SENSOR__DATA__ 00012 00013 #include "robotTypes.h" 00014 #include "ConfigFile.h" 00015 00016 /** 00017 * @brief Implements the data returned by a range sensor like a laser 00018 * 00019 */ 00020 class rangeSensorData{ 00021 00022 /////////////////////////////////////////////////////////////////////// 00023 //------------------------- Attributes ------------------------------ 00024 /////////////////////////////////////////////////////////////////////// 00025 private: 00026 00027 int numSensors; 00028 float devError; 00029 float gammamax; 00030 float aperture; 00031 float maxDist; 00032 float minDist; 00033 float* data; 00034 pose* sensorPos; 00035 00036 //--------------------------------------------------------------------- 00037 /////////////////////////////////////////////////////////////////////// 00038 00039 /////////////////////////////////////////////////////////////////////// 00040 //------------------------- Methods --------------------------------- 00041 /////////////////////////////////////////////////////////////////////// 00042 public: 00043 00044 /// Default constructor 00045 rangeSensorData(); 00046 /// constructor from config file 00047 rangeSensorData(int numSensors, float devError, float gammamax, float aperture, float maxDist, float minDist); 00048 /// Copy constructor 00049 rangeSensorData(const rangeSensorData&); 00050 /// Default destructor 00051 virtual ~rangeSensorData(); 00052 00053 /// assignment operator 00054 rangeSensorData& operator= (const rangeSensorData &rsd); 00055 00056 /// initializer 00057 void initialize(int numSensors, float devError, float gammamax, float aperture, float maxDist, float minDist); 00058 00059 /// returns the number of measurements 00060 int getNumSensors() const; 00061 /// returns the error of the measurement device 00062 float getDevError() const; 00063 /// returns aperture of the cone of measure 00064 float getAperture() const; 00065 /// returns the maximum range of the sensor 00066 float getMaxAngle() const; 00067 /// returns the maximum range of the sensor 00068 float getMaxDist() const; 00069 /// returns the minimum range of the sensor 00070 float getMinDist() const; 00071 /// returns the pose of a sensor s in robot coordinates 00072 pose& getSensorPose(int s) const; 00073 /// returns a sensor measurement 00074 float getSensorValue(int s) const; 00075 00076 /// sets the pose of a sensor s in robot coordinates 00077 void setSensorPose(int s, const pose& pos); 00078 /// sets a sensor measurement 00079 void setSensorValue(int s, float val); 00080 00081 /// returns a pointer to the array of sensor poses 00082 pose* getSensorPoses(); 00083 /// returns a pointer to the array of data 00084 float* getData(); 00085 00086 //--------------------------------------------------------------------- 00087 /////////////////////////////////////////////////////////////////////// 00088 }; 00089 00090 inline int rangeSensorData::getNumSensors() const {return numSensors;} 00091 inline float rangeSensorData::getDevError() const {return devError;} 00092 inline float rangeSensorData::getMaxAngle() const {return gammamax;} 00093 inline float rangeSensorData::getAperture() const {return aperture;} 00094 inline float rangeSensorData::getMaxDist() const {return maxDist;} 00095 inline float rangeSensorData::getMinDist() const {return minDist;} 00096 inline pose& rangeSensorData::getSensorPose(int s) const {return (s<numSensors)? sensorPos[s]: nullpose;} 00097 inline float rangeSensorData::getSensorValue(int s) const {return data[s];} 00098 inline void rangeSensorData::setSensorPose(int s, const pose& pos) {if (s<numSensors) sensorPos[s] = pos;} 00099 inline void rangeSensorData::setSensorValue(int s, float val) {data[s] = val;} 00100 inline pose* rangeSensorData::getSensorPoses() {return sensorPos;} 00101 inline float* rangeSensorData::getData() {return data;} 00102 00103 #endif 00104
1.7.6.1
