Fawkes API  Fawkes Development Version
LaserMapFilterDataFilter Class Reference

#include <map_filter.h>

Inheritance diagram for LaserMapFilterDataFilter:

Public Member Functions

 LaserMapFilterDataFilter (const std::string &filter_name, unsigned int in_data_size, std::vector< LaserDataFilter::Buffer * > &in, fawkes::tf::Transformer *tf_listener, fawkes::Configuration *config, const std::string &prefix, fawkes::Logger *logger)
 Constructor. More...
 
virtual void filter ()
 
- Public Member Functions inherited from LaserDataFilter
 LaserDataFilter (const std::string &filter_name, unsigned int in_data_size, const std::vector< Buffer * > &in, unsigned int out_size)
 Constructor. More...
 
virtual ~LaserDataFilter ()
 Virtual empty destructor. More...
 
virtual std::vector< Buffer * > & get_out_vector ()
 Get filtered data array. More...
 
virtual void set_out_vector (std::vector< Buffer * > &out)
 Set filtered data array. More...
 
virtual unsigned int get_out_data_size ()
 Get size of filtered data array. More...
 
void set_array_ownership (bool own_in, bool own_out)
 Set input/output array ownership. More...
 
bool owns_in () const
 Check if input arrays are owned by filter. More...
 
bool owns_out () const
 Check if output arrays are owned by filter. More...
 

Additional Inherited Members

- Protected Member Functions inherited from LaserDataFilter
virtual void set_out_data_size (unsigned int data_size)
 Resize output arrays. More...
 
void reset_outbuf (Buffer *b)
 Resets all readings in outbuf to NaN. More...
 
void copy_to_outbuf (Buffer *outbuf, const Buffer *inbuf)
 Copies the readings from inbuf to outbuf. More...
 
- Protected Attributes inherited from LaserDataFilter
std::string filter_name
 
unsigned int out_data_size
 
unsigned int in_data_size
 
std::vector< Buffer * > in
 
std::vector< Buffer * > out
 

Detailed Description

Removes static laser data (laser beams near occupied map cells)

Author
Tobias Neumann

Definition at line 35 of file map_filter.h.

Constructor & Destructor Documentation

◆ LaserMapFilterDataFilter()

LaserMapFilterDataFilter::LaserMapFilterDataFilter ( const std::string &  filter_name,
unsigned int  in_data_size,
std::vector< LaserDataFilter::Buffer * > &  in,
fawkes::tf::Transformer tf_listener,
fawkes::Configuration config,
const std::string &  prefix,
fawkes::Logger logger 
)

Constructor.

Parameters
filter_namename of this filter
in_data_sizenumber of entries input value arrays
invector of input arrays
tf_listenerto access the tf::Transformer aspect
configto access the Configuration aspect
prefixconfiguration prefix specifying the config path
loggerto access the Logger aspect

Definition at line 49 of file map_filter.cpp.

References fawkes::Configuration::get_int_or_default(), and fawkes::Configuration::get_string().

Member Function Documentation

◆ filter()

void LaserMapFilterDataFilter::filter ( )
virtual

Filter the incoming data. Function shall filter the data in the "in" member vector and write output to the "out" member vector.

Implements LaserDataFilter.

Definition at line 115 of file map_filter.cpp.

References LaserDataFilter::in, fawkes::Logger::log_warn(), fawkes::tf::Transformer::lookup_transform(), LaserDataFilter::out, LaserDataFilter::out_data_size, and fawkes::polar2cart2d().


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