The base class for all sensing devices which return range information from the device (mounted on a robot) to an object in the environment. More...

#include <ArRangeDevice.h>

Inherited by ArBumpers, ArForbiddenRangeDevice, ArIrrfDevice, ArIRs, ArLaserReflectorDevice, ArRangeDeviceThreaded, and ArSonarDevice.

Public Member Functions
virtual void	addReading (double x, double y, bool *wasAdded=NULL)
	Adds a reading to the buffer.

virtual void	applyTransform (ArTransform trans, bool doCumulative=true)
	Applies a transform to the buffers. More...

	ArRangeDevice (size_t currentBufferSize, size_t cumulativeBufferSize, const char *name, unsigned int maxRange, int maxSecondsToKeepCurrent=0, int maxSecondsToKeepCumulative=0, double maxDistToKeepCumulative=0, bool locationDependent=false)
	Constructor. More...

virtual void	clearCumulativeOlderThan (int milliSeconds)
	Clears all the cumulative readings older than this number of milliseconds.

virtual void	clearCumulativeOlderThanSeconds (int seconds)
	Clears all the cumulative readings older than this number of seconds.

virtual void	clearCumulativeReadings (void)
	Clears all the cumulative readings.

virtual void	clearCurrentReadings (void)
	Clears all the current readings.

virtual double	cumulativeReadingBox (double x1, double y1, double x2, double y2, ArPose *readingPos=NULL) const
	Gets the closest current reading from the given box region. More...

virtual double	cumulativeReadingPolar (double startAngle, double endAngle, double *angle=NULL) const
	Gets the closest cumulative reading in the given polar region. More...

virtual double	currentReadingBox (double x1, double y1, double x2, double y2, ArPose *readingPos=NULL) const
	Gets the closest current reading from the given box region. More...

virtual double	currentReadingPolar (double startAngle, double endAngle, double *angle=NULL) const
	Gets the closest current reading in the given polar region. More...

void	filterCallback (void)
	Internal function to filter the readings based on age and distance.

virtual const std::list< ArSensorReading * > *	getAdjustedRawReadings (void) const
	Gets the raw unfiltered readings from the device (but pose takens are corrected) More...

virtual std::vector< ArSensorReading > *	getAdjustedRawReadingsAsVector (void)
	Gets the raw adjusted readings from the device into a vector. More...

virtual const std::list< ArPoseWithTime * > *	getCumulativeBuffer (void) const
	Gets the current buffer of readings. More...

virtual std::list< ArPoseWithTime * > *	getCumulativeBuffer (void)
	Gets the current buffer of readings.

virtual std::vector< ArPoseWithTime > *	getCumulativeBufferAsVector (void)
	Gets the cumulative buffer of readings as a vector. More...

virtual size_t	getCumulativeBufferSize (void) const
	Sets the maximum size of the buffer for cumulative readings.

virtual ArDrawingData *	getCumulativeDrawingData (void)
	Gets data used for visualizing the cumulative buffer (see ArNetworking)

virtual const ArRangeBuffer *	getCumulativeRangeBuffer (void) const
	Gets the cumulative range buffer. More...

virtual ArRangeBuffer *	getCumulativeRangeBuffer (void)
	Gets the cumulative range buffer.

virtual const std::list< ArPoseWithTime * > *	getCurrentBuffer (void) const
	Gets the current buffer of readings. More...

virtual std::list< ArPoseWithTime * > *	getCurrentBuffer (void)
	Gets the current buffer of readings.

virtual std::vector< ArPoseWithTime > *	getCurrentBufferAsVector (void)
	Gets the current buffer of readings as a vector. More...

virtual size_t	getCurrentBufferSize (void) const
	Gets the maximum size of the buffer for current readings.

virtual ArDrawingData *	getCurrentDrawingData (void)
	Gets data used for visualizing the current buffer (see ArNetworking)

virtual const ArRangeBuffer *	getCurrentRangeBuffer (void) const
	Gets the current range buffer. More...

virtual ArRangeBuffer *	getCurrentRangeBuffer (void)
	Gets the current range buffer.

double	getMaxDistToKeepCumulative (void)
	sets the maximum distance cumulative readings can be from current pose More...

double	getMaxInsertDistCumulative (void)
	Gets the maximum distance a cumulative reading can be from the robot and still be inserted. More...

virtual unsigned int	getMaxRange (void) const
	Gets the maximum range for this device.

int	getMaxSecondsToKeepCumulative (void)
	gets the maximum seconds to keep current readings around More...

int	getMaxSecondsToKeepCurrent (void)
	gets the maximum seconds to keep current readings around More...

double	getMinDistBetweenCumulative (void)
	Gets the minimum distance between cumulative readings. More...

double	getMinDistBetweenCurrent (void)
	Gets the minimum distance between current readings. More...

virtual const char *	getName (void) const
	Gets the name of the device.

virtual const std::list< ArSensorReading * > *	getRawReadings (void) const
	Gets the raw unfiltered readings from the device. More...

virtual std::vector< ArSensorReading > *	getRawReadingsAsVector (void)
	Gets the raw unfiltered readings from the device into a vector. More...

virtual ArRobot *	getRobot (void)
	Gets the robot this device is attached to.

bool	isLocationDependent (void)
	Gets if this device is location dependent or not.

virtual int	lockDevice ()
	Lock this device.

virtual void	setCumulativeBufferSize (size_t size)
	Sets the maximum size of the buffer for cumulative readings. More...

virtual void	setCumulativeDrawingData (ArDrawingData *data, bool takeOwnershipOfData)
	Sets data for visualizing the cumulative buffer (and if we own it)

virtual void	setCurrentBufferSize (size_t size)
	Sets the maximum size of the buffer for current readings. More...

virtual void	setCurrentDrawingData (ArDrawingData *data, bool takeOwnershipOfData)
	Sets data for visualizing the current buffer (and if we own it)

void	setMaxDistToKeepCumulative (double maxDistToKeepCumulative)
	sets the maximum distance cumulative readings can be from current pose More...

void	setMaxInsertDistCumulative (double maxInsertDistCumulative)
	Sets the maximum distance a cumulative reading can be from the robot and still be inserted. More...

virtual void	setMaxRange (unsigned int maxRange)
	Sets the maximum range for this device.

void	setMaxSecondsToKeepCumulative (int maxSecondsToKeepCumulative)
	gets the maximum seconds to keep cumulative readings around More...

void	setMaxSecondsToKeepCurrent (int maxSecondsToKeepCurrent)
	Sets the maximum seconds to keep current readings around. More...

void	setMinDistBetweenCumulative (double minDistBetweenCumulative)
	Sets the minimum distance between cumulative readings. More...

void	setMinDistBetweenCurrent (double minDistBetweenCurrent)
	Sets the minimum distance between current readings. More...

virtual void	setRobot (ArRobot *robot)
	Sets the robot this device is attached to.

virtual int	tryLockDevice ()
	Try to lock this device.

virtual int	unlockDevice ()
	Unlock this device.

virtual	~ArRangeDevice ()
	Destructor.

Protected Member Functions
void	adjustRawReadings (bool interlaced)
	This call should be called by the range device every robot cycle before the range device makes new readings (and even if it isn't adding any that cycle)... More...

Protected Attributes
std::list< ArSensorReading * > *	myAdjustedRawReadings

std::vector< ArSensorReading >	myAdjustedRawReadingsVector

ArRangeBuffer	myCumulativeBuffer

ArDrawingData *	myCumulativeDrawingData

ArRangeBuffer	myCurrentBuffer

ArDrawingData *	myCurrentDrawingData

ArMutex	myDeviceMutex

ArFunctorC< ArRangeDevice >	myFilterCB

bool	myIsLocationDependent

double	myMaxDistToKeepCumulative

double	myMaxDistToKeepCumulativeSquared

double	myMaxInsertDistCumulative

ArPose	myMaxInsertDistCumulativePose

double	myMaxInsertDistCumulativeSquared

unsigned int	myMaxRange

int	myMaxSecondsToKeepCumulative

int	myMaxSecondsToKeepCurrent

double	myMinDistBetweenCumulative

double	myMinDistBetweenCumulativeSquared

double	myMinDistBetweenCurrent

double	myMinDistBetweenCurrentSquared

std::string	myName

bool	myOwnCumulativeDrawingData

bool	myOwnCurrentDrawingData

std::list< ArSensorReading * > *	myRawReadings

std::vector< ArSensorReading >	myRawReadingsVector

ArRobot *	myRobot

Detailed Description

The base class for all sensing devices which return range information from the device (mounted on a robot) to an object in the environment.

This class maintains two ArRangeBuffer objects: a current buffer (getCurrentBuffer()) for storing very recent readings, and a cumulative buffer (getCumulativeBuffer()) for a longer history of readings. The maximum sizes of each buffer can be set in the constructor or resized later. Range device readings are most often represented as a point in space (X,Y) where the sensor detected an object. (Therefore an ArPose object may only have X and Y components set).

Some devices provide an original set of "raw" ArSensorReading objects (getRawReadings()) (that it used to add data to the current buffer) which may also include extra device specific information as well. Not all devices provide raw readings.

Subclasses are used for specific sensor implementations like ArSick for SICK lasers and ArSonarDevice for the Pioneer sonar array. It can also be useful to treat "virtual" objects like forbidden areas specified by the user in a map like range devices. Some of these subsclasses may use a separate thread to update the range reading buffers, and so this base class provides "lock" and "unlock" methods which you should use when accessing device data.

A range device may have an ArRobot object associated with it. A range device may also be associated with an ArRobot by calling ArRobot::addRangeDevice(). ArRobot provides functions which operate on all such associated ArRangeDevice objects. This is a convenient (and thread-safe) way to access all range device data without depending on a specific set of individual range devices. For example, you can find the closest reading in a box or a polar section, no matter if that reading originated from the sonar, a laser, or other device.

Examples:: actionExample.cpp.

Constructor & Destructor Documentation

◆ ArRangeDevice()

ArRangeDevice::ArRangeDevice	(	size_t	currentBufferSize,
		size_t	cumulativeBufferSize,
		const char *	name,
		unsigned int	maxRange,
		int	maxSecondsToKeepCurrent = `0`,
		int	maxSecondsToKeepCumulative = `0`,
		double	maxDistToKeepCumulative = `0`,
		bool	locationDependent = `false`
	)

Constructor.

Parameters

currentBufferSize	number of readings to store in the current buffer
cumulativeBufferSize	number of readings to store in the cumulative buffer
name	the name of this device
maxRange	the maximum range of this device. If the device can't find a reading in a specified section, it returns this maxRange
maxSecondsToKeepCurrent	this is the number of seconds to keep current readings in the current buffer. If less than 0, then readings are not automatically removed based on time (but can be replaced or removed for other reasons). If 0, readings are removed immediately when a new set of readings is received and placed in the current buffer.
maxSecondsToKeepCumulative	this is the number of seconds to keep cumulative readings in the cumulative buffer. If less than 0 then readings are not automatically based on time (but can be replaced or removed for other reasons).
maxDistToKeepCumulative	if cumulative readings are further than this distance from the current robot pose, then they are removed. If this is less than 0 they are not removed because of this
locationDependent	if the data in this range device is dependent on the robot's location or not... For instance, a laser would not be dependent on location, because it'll be correct in a relative manner, whereas forbidden lines are dependent on location, because if the robot isn't where it thinks it is then the forbidden lines will be avoided in the wrong spots... this is mainly just a flag for other things to use when deciding what range devices to avoid

Member Function Documentation

◆ adjustRawReadings()

void ArRangeDevice::adjustRawReadings ( bool interlaced )

protected

This call should be called by the range device every robot cycle before the range device makes new readings (and even if it isn't adding any that cycle)...

it will adjust the raw readings by the robot odometry offset. The robot should be locked when this happens (which should be the case if you're doing it in the robot callback). The code currently assumes that all readings were taken at the same point, so if that isn't true with your device then you can't use this mechanism.

◆ applyTransform()

void ArRangeDevice::applyTransform	(	ArTransform	trans,
		bool	doCumulative = `true`
	)

virtual

Applies a transform to the buffers.

Applies a coordinate transformation to some or all buffers.

This is mostly useful for translating to/from local/global coordinate systems, but may have other uses.

Parameters

trans	the transform to apply to the data
doCumulative	whether to transform the cumulative buffer or not

Reimplemented in ArLaser.

◆ cumulativeReadingBox()

double ArRangeDevice::cumulativeReadingBox	(	double	x1,
		double	y1,
		double	x2,
		double	y2,
		ArPose *	pose = `NULL`
	)		const

virtual

Gets the closest current reading from the given box region.

Get the closest reading in the cumulative buffer within a rectangular region around the range device, defined by two points (opposeite points of a rectangle).

Parameters

x1	the x coordinate of one of the rectangle points
y1	the y coordinate of one of the rectangle points
x2	the x coordinate of the other rectangle point
y2	the y coordinate of the other rectangle point
pose	a pointer to an ArPose object in which to store the location of the closest position

Returns: The range to the reading from the device, or a value >= maxRange if no reading was found in the box.

◆ cumulativeReadingPolar()

double ArRangeDevice::cumulativeReadingPolar	(	double	startAngle,
		double	endAngle,
		double *	angle = `NULL`
	)		const

virtual

Gets the closest cumulative reading in the given polar region.

The closest reading in this range device's cumulative buffer within a polar region or "slice" defined by the given angle range is returned.

Optionally return the specific angle of the found reading as well. The region searched is the region between a starting angle, sweeping counter-clockwise to the ending angle (0 is straight ahead of the device, -90 to the right, 90 to the left). Note that there is a difference between the region (0, 10) and (10, 0). (0, 10) is a 10-degree span near the front of the device, while (10, 0) is a 350 degree span covering the sides and rear. Similarly, (-60, -30) covers 30 degrees on the right hand side, while (-30, -60) covers 330 degrees. In other words, if you want the smallest section between the two angles, ensure than startAngle < endAngle.

Parameters

startAngle	where to start the slice
endAngle	where to end the slice, going counterclockwise from startAngle
angle	if given, a pointer to a value in which to put the specific angle to the found reading

Returns: the range to the obstacle (a value >= the maximum range indicates that no reading was detected in the specified region)

Example:

This figure illustrates an example range device and the meanings of arguments and return value.

◆ currentReadingBox()

double ArRangeDevice::currentReadingBox	(	double	x1,
		double	y1,
		double	x2,
		double	y2,
		ArPose *	pose = `NULL`
	)		const

virtual

Gets the closest current reading from the given box region.

Get the closest reading in the current buffer within a rectangular region defined by two points (opposite corners of the rectangle).

Parameters

x1	the x coordinate of one of the rectangle points
y1	the y coordinate of one of the rectangle points
x2	the x coordinate of the other rectangle point
y2	the y coordinate of the other rectangle point
pose	a pointer to an ArPose object in which to store the location of the closest position

Returns: The range to the reading from the device, or a value >= maxRange if no reading was found in the box.

◆ currentReadingPolar()

double ArRangeDevice::currentReadingPolar	(	double	startAngle,
		double	endAngle,
		double *	angle = `NULL`
	)		const

virtual

Gets the closest current reading in the given polar region.

The closest reading within a polar region or "slice" defined by the given angle range is returned.

Optionally, the specific angle of the found may be placed in angle, if not NULL. The region searched is the region between startAngle, sweeping counter-clockwise to endAngle (0 is straight ahead of the device, -90 to the right, 90 to the left). Note that therefore there is a difference between e.g. the regions (0, 10) and (10, 0). (0, 10) is a 10-degree span near the front of the device, while (10, 0) is a 350 degree span covering the sides and rear. Similarly, (-60, -30) covers 30 degrees on the right hand side, while (-30, -60) covers 330 degrees. (-90, 90) is 180 degrees in front. (-180, 180) covers all sides of the robot. In other words, if you want the smallest section between the two angles, ensure that startAngle < endAngle.

Parameters

startAngle	where to start the slice
endAngle	where to end the slice, going counterclockwise from startAngle
angle	if given, a pointer to a value in which to put the specific angle to the found reading

Returns: the range to the obstacle (a value >= the maximum range indicates that no reading was detected in the specified region)

Example:

This figure illustrates an example range device and the meanings of arguments and return value.

Examples:: laserConnect.cpp, and lasers.cpp.

◆ getAdjustedRawReadings()

virtual const std::list<ArSensorReading *>* ArRangeDevice::getAdjustedRawReadings ( void ) const

inlinevirtual

Gets the raw unfiltered readings from the device (but pose takens are corrected)

The raw readings are the full set of unfiltered readings from the device. They are the latest readings. You should not manipulate the list you get from this function, the only manipulation of this list should be done by the range device itself. (Its only pointers for speed.)

This is like the raw readings but they were corrected for the robot odometry offset (just the pose taken, and encoder psoe taken).

Note: Only ArSick provides this data currently. Sonar, bumpers, etc. do not provide raw readings. This method was added to this base class for future lasers or other similar devices. Other kinds of range devices are sufficiently different from lasers that any "raw" information provided would usually require very different interpretation.

◆ getAdjustedRawReadingsAsVector()

std::vector< ArSensorReading > * ArRangeDevice::getAdjustedRawReadingsAsVector ( void )

virtual

Gets the raw adjusted readings from the device into a vector.

Copies the list into a vector.

Java and Python Wrappers: The return type will be named ArSensorReadingVector instead of the std::vector template type.

◆ getCumulativeBuffer()

virtual const std::list<ArPoseWithTime *>* ArRangeDevice::getCumulativeBuffer ( void ) const

inlinevirtual

Gets the current buffer of readings.

Java and Python Wrappers: Not available in Java or Python wrapper libraries. See getCumulativeBufferAsVector()

◆ getCumulativeBufferAsVector()

virtual std::vector<ArPoseWithTime>* ArRangeDevice::getCumulativeBufferAsVector ( void )

inlinevirtual

Gets the cumulative buffer of readings as a vector.

Java and Python Wrappers: The return type will be named ArPoseWithTimeVector instead of the std::vector template.

◆ getCumulativeRangeBuffer()

virtual const ArRangeBuffer* ArRangeDevice::getCumulativeRangeBuffer ( void ) const

inlinevirtual

Gets the cumulative range buffer.

Java and Python Wrappers: Not available in Java or Python wrapper libraries. See getCumulativeBufferAsVector()

◆ getCurrentBuffer()

virtual const std::list<ArPoseWithTime *>* ArRangeDevice::getCurrentBuffer ( void ) const

inlinevirtual

Gets the current buffer of readings.

Java and Python Wrappers: Not available in Java or Python wrapper libraries. See getCurrentBufferAsVector()

Examples:: laserConnect.cpp, and lasers.cpp.

◆ getCurrentBufferAsVector()

virtual std::vector<ArPoseWithTime>* ArRangeDevice::getCurrentBufferAsVector ( void )

inlinevirtual

Gets the current buffer of readings as a vector.

Java and Python Wrappers: The return type will be named ArPoseWithTimeVector instead of the std::vector template.

◆ getCurrentRangeBuffer()

virtual const ArRangeBuffer* ArRangeDevice::getCurrentRangeBuffer ( void ) const

inlinevirtual

Gets the current range buffer.

Java and Python Wrappers: Not available in Java or Python wrapper libraries. See getCurrentBufferAsVector()

◆ getMaxDistToKeepCumulative()

double ArRangeDevice::getMaxDistToKeepCumulative ( void )

inline

sets the maximum distance cumulative readings can be from current pose

Returns: if cumulative readings are further than this from where the current pose they are removed, if this is less than 0 they are not removed because of this

◆ getMaxInsertDistCumulative()

double ArRangeDevice::getMaxInsertDistCumulative ( void )

inline

Gets the maximum distance a cumulative reading can be from the robot and still be inserted.

Returns: The maximum distance a cumulative reading can have from the robot's current position and still be inserted into the cumulative readings, this is applied in the addReading call so range devices need to call that for this to take effect.

◆ getMaxSecondsToKeepCumulative()

int ArRangeDevice::getMaxSecondsToKeepCumulative ( void )

inline

gets the maximum seconds to keep current readings around

Returns: this is the number of seconds cumulative readings are kept around for, if less than 0 then they are not automatically removed because of this

◆ getMaxSecondsToKeepCurrent()

int ArRangeDevice::getMaxSecondsToKeepCurrent ( void )

inline

gets the maximum seconds to keep current readings around

Returns: this is the number of seconds current readings are kept around for, if less than 0 then they are not automatically removed because of this

◆ getMinDistBetweenCumulative()

double ArRangeDevice::getMinDistBetweenCumulative ( void )

inline

Gets the minimum distance between cumulative readings.

Returns: The minimum distance between cumulative readings, this is applied in the addReading call so range devices need to call that for this to take effect.

◆ getMinDistBetweenCurrent()

double ArRangeDevice::getMinDistBetweenCurrent ( void )

inline

Gets the minimum distance between current readings.

Returns: The minimum distance between current readings, this is applied in the addReading call so range devices need to call that for this to take effect.

◆ getRawReadings()

virtual const std::list<ArSensorReading *>* ArRangeDevice::getRawReadings ( void ) const

inlinevirtual

Gets the raw unfiltered readings from the device.

The raw readings are the full set of unfiltered readings from the device. They are the latest readings. You should not manipulate the list you get from this function, the only manipulation of this list should be done by the range device itself. (Its only pointers for speed.)

Note: Only ArSick provides this data currently. Sonar, bumpers, etc. do not provide raw readings. This method was added to this base class for future lasers or other similar devices. Other kinds of range devices are sufficiently different from lasers that any "raw" information provided would usually require very different interpretation.

◆ getRawReadingsAsVector()

std::vector< ArSensorReading > * ArRangeDevice::getRawReadingsAsVector ( void )

virtual

Gets the raw unfiltered readings from the device into a vector.

Copies the list into a vector.

Java and Python Wrappers: The return type will be named ArSensorReadingVector instead of the std::vector template type.

◆ setCumulativeBufferSize()

void ArRangeDevice::setCumulativeBufferSize ( size_t size )

virtual

Sets the maximum size of the buffer for cumulative readings.

If the size is smaller than the cumulative buffer size, then the oldest readings are discarded, leaving only size newest readings.

If size is larger than the cumulative buffer size, then the buffer size will be allowed to grow to that size as new readings are added.

Parameters

size	number of readings to set the buffer to

Reimplemented in ArLaser.

◆ setCurrentBufferSize()

void ArRangeDevice::setCurrentBufferSize ( size_t size )

virtual

Sets the maximum size of the buffer for current readings.

If the size is smaller than the current buffer size, then the oldest readings are discarded, leaving only size newest readings.

If size is larger than the current size, then the buffer size will be allowed to grow to that size as new readings are added.

Parameters

size	number of readings to set the buffer's maximum size to

◆ setMaxDistToKeepCumulative()

void ArRangeDevice::setMaxDistToKeepCumulative ( double maxDistToKeepCumulative )

inline

sets the maximum distance cumulative readings can be from current pose

Parameters

maxDistToKeepCumulative if cumulative readings are further than this from where the current pose they are removed, if this is less than 0 they are not removed because of this

◆ setMaxInsertDistCumulative()

void ArRangeDevice::setMaxInsertDistCumulative ( double maxInsertDistCumulative )

inline

Sets the maximum distance a cumulative reading can be from the robot and still be inserted.

Parameters

maxInsertDistCumulative The maximum distance a cumulative reading can have from the robot's current position and still be inserted into the cumulative readings, this is applied in the addReading call so range devices need to call that for this to take effect.

◆ setMaxSecondsToKeepCumulative()

void ArRangeDevice::setMaxSecondsToKeepCumulative ( int maxSecondsToKeepCumulative )

inline

gets the maximum seconds to keep cumulative readings around

Parameters

maxSecondsToKeepCumulative this is the number of seconds to keep cumulative readings around, if less than 0 then they are not automatically removed because of this

◆ setMaxSecondsToKeepCurrent()

void ArRangeDevice::setMaxSecondsToKeepCurrent ( int maxSecondsToKeepCurrent )

inline

Sets the maximum seconds to keep current readings around.

Parameters

maxSecondsToKeepCurrent this is the number of seconds to keep current readings around, if less than 0 then they are not automatically removed because of this

◆ setMinDistBetweenCumulative()

void ArRangeDevice::setMinDistBetweenCumulative ( double minDistBetweenCumulative )

inline

Sets the minimum distance between cumulative readings.

Parameters

minDistBetweenCumulative The minimum distance between cumulative readings, this is applied in the addReading call so range devices need to call that for this to take effect.

◆ setMinDistBetweenCurrent()

void ArRangeDevice::setMinDistBetweenCurrent ( double minDistBetweenCurrent )

inline

Sets the minimum distance between current readings.

Parameters

minDistBetweenCurrent The minimum distance between current readings, this is applied in the addReading call so range devices need to call that for this to take effect.

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

ArRangeDevice.h
ArRangeDevice.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ArRangeDevice()

Member Function Documentation

◆ adjustRawReadings()

◆ applyTransform()

◆ cumulativeReadingBox()

◆ cumulativeReadingPolar()

◆ currentReadingBox()

◆ currentReadingPolar()

◆ getAdjustedRawReadings()

◆ getAdjustedRawReadingsAsVector()

◆ getCumulativeBuffer()

◆ getCumulativeBufferAsVector()

◆ getCumulativeRangeBuffer()

◆ getCurrentBuffer()

◆ getCurrentBufferAsVector()

◆ getCurrentRangeBuffer()

◆ getMaxDistToKeepCumulative()

◆ getMaxInsertDistCumulative()

◆ getMaxSecondsToKeepCumulative()

◆ getMaxSecondsToKeepCurrent()

◆ getMinDistBetweenCumulative()

◆ getMinDistBetweenCurrent()

◆ getRawReadings()

◆ getRawReadingsAsVector()

◆ setCumulativeBufferSize()

◆ setCurrentBufferSize()

◆ setMaxDistToKeepCumulative()

◆ setMaxInsertDistCumulative()

◆ setMaxSecondsToKeepCumulative()

◆ setMaxSecondsToKeepCurrent()

◆ setMinDistBetweenCumulative()

◆ setMinDistBetweenCurrent()