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

#include <ArSensorReading.h>

Public Member Functions
void	applyEncoderTransform (ArTransform trans)
	Applies a transform to the encoder pose taken. More...

void	applyTransform (ArTransform trans)
	Applies a transform to the reading position, and where it was taken. More...

	ArSensorReading (double xPos=0.0, double yPos=0.0, double thPos=0.0)
	Constructor, the three args are the physical location of the sensor. More...

	ArSensorReading (const ArSensorReading &reading)
	Copy constructor.

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. More...

ArPose	getEncoderPoseTaken (void) const
	Gets the robot's encoder pose the reading was taken at. More...

int	getExtraInt (void) const
	Gets the extra int with this reading. More...

bool	getIgnoreThisReading (void) const
	Gets whether this reading should be ignore or not. More...

ArPose	getLocalPose (void) const
	Gets the position of the reading. More...

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
	Gets the position of the reading. More...

ArPose	getPoseTaken (void) const
	Gets the pose of the robot at which the reading was taken. More...

unsigned int	getRange (void) const
	Gets the range from sensor of the reading. More...

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. More...

double	getSensorTh (void) const
	Gets the heading of the sensor on the robot. More...

double	getSensorX (void) const
	Gets the X location of the sonar on the robot. More...

double	getSensorY (void) const
	Gets the Y location of the sensor on the robot. More...

double	getThTaken (void) const
	Gets the th (heading) of the robot when the reading was received. More...

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. More...

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. More...

bool	isNew (unsigned int counter) const
	Given the counter from the robot, it returns whether the reading is new. More...

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. More...

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. More...

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. More...

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

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).

Constructor & Destructor Documentation

◆ ArSensorReading()

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)

Member Function Documentation

◆ applyEncoderTransform()

void ArSensorReading::applyEncoderTransform ( ArTransform trans )

Applies a transform to the encoder pose taken.

Parameters

trans the transform to apply to the encoder pose taken

◆ applyTransform()

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

◆ getCounterTaken()

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

◆ getEncoderPoseTaken()

ArPose ArSensorReading::getEncoderPoseTaken ( void ) const

inline

Gets the robot's encoder pose the reading was taken at.

See also: getPoseTaken(); ArRobot::getEncoderPose()

◆ getExtraInt()

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).

◆ getIgnoreThisReading()

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.

◆ getLocalPose()

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)

◆ getPose()

ArPose ArSensorReading::getPose ( void ) const

inline

Gets the position of the reading.

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

◆ getPoseTaken()

ArPose ArSensorReading::getPoseTaken ( void ) const

inline

Gets the pose of the robot at which the reading was taken.

See also: getEncoderPoseTaken(); getTimeTaken(); ArRobot::getPose()

◆ getRange()

unsigned int ArSensorReading::getRange ( void ) const

inline

Gets the range from sensor of the reading.

Returns: the distance to the reading from the sensor itself

◆ getSensorPosition()

ArPose ArSensorReading::getSensorPosition ( void ) const

inline

Gets the sensor's position on the robot.

Returns: the position of the sensor on the robot

◆ getSensorTh()

double ArSensorReading::getSensorTh ( void ) const

inline

Gets the heading of the sensor on the robot.

See also: getsensorPosition()

◆ getSensorX()

double ArSensorReading::getSensorX ( void ) const

inline

Gets the X location of the sonar on the robot.

See also: getSensorPosition()

◆ getSensorY()

double ArSensorReading::getSensorY ( void ) const

inline

Gets the Y location of the sensor on the robot.

See also: getsensorPosition()

◆ getThTaken()

double ArSensorReading::getThTaken ( void ) const

inline

Gets the th (heading) of the robot when the reading was received.

See also: getPoseTaken()

◆ getXTaken()

double ArSensorReading::getXTaken ( void ) const

inline

Gets the X locaiton of the robot when the reading was received.

See also: getPoseTaken()

◆ getYTaken()

double ArSensorReading::getYTaken ( void ) const

inline

Gets the Y location of the robot when the reading was received.

See also: getPoseTaken()

◆ isNew()

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

◆ newData() [1/2]

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)

◆ newData() [2/2]

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)

◆ resetSensorPosition()

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

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

ArSensorReading.h
ArSensorReading.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ArSensorReading()

Member Function Documentation

◆ applyEncoderTransform()

◆ applyTransform()

◆ getCounterTaken()

◆ getEncoderPoseTaken()

◆ getExtraInt()

◆ getIgnoreThisReading()

◆ getLocalPose()

◆ getPose()

◆ getPoseTaken()

◆ getRange()

◆ getSensorPosition()

◆ getSensorTh()

◆ getSensorX()

◆ getSensorY()

◆ getThTaken()

◆ getXTaken()

◆ getYTaken()

◆ isNew()

◆ newData() [1/2]

◆ newData() [2/2]

◆ resetSensorPosition()