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LaserScanAggregator Class Reference

#include <armarx/localization_and_mapping/cartographer_adapter/map_registration/LaserScanAggregator.h>

Public Types

using Point = pcl::PointXYZ
 
using PointCloud = pcl::PointCloud< Point >
 
using RobotPoseQueue = simox::math::InterpolatingTimeQueue< simox::math::PoseStamped >
 
using SensorPoseMap = std::unordered_map< std::string, Eigen::Isometry3f >
 

Public Member Functions

void add (const armem::LaserScanStamped &scan)
 
void add (const std::vector< armem::LaserScanStamped > &scans)
 
 LaserScanAggregator (const SensorPoseMap &sensorPoses, const RobotPoseQueue &robotPoseQueue, float minRange)
 
const PointCloud::Ptr & pointCloud () const
 

Detailed Description

Definition at line 43 of file LaserScanAggregator.h.

Member Typedef Documentation

◆ Point

using Point = pcl::PointXYZ

Definition at line 46 of file LaserScanAggregator.h.

◆ PointCloud

using PointCloud = pcl::PointCloud<Point>

Definition at line 47 of file LaserScanAggregator.h.

◆ RobotPoseQueue

using RobotPoseQueue = simox::math::InterpolatingTimeQueue<simox::math::PoseStamped>

Definition at line 50 of file LaserScanAggregator.h.

◆ SensorPoseMap

using SensorPoseMap = std::unordered_map<std::string, Eigen::Isometry3f>

Definition at line 49 of file LaserScanAggregator.h.

Constructor & Destructor Documentation

◆ LaserScanAggregator()

LaserScanAggregator ( const SensorPoseMap &  sensorPoses,
const RobotPoseQueue &  robotPoseQueue,
float  minRange 
)

Definition at line 23 of file LaserScanAggregator.cpp.

Member Function Documentation

◆ add() [1/2]

void add ( const armem::LaserScanStamped &  scan)

Definition at line 35 of file LaserScanAggregator.cpp.

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◆ add() [2/2]

void add ( const std::vector< armem::LaserScanStamped > &  scans)

Definition at line 66 of file LaserScanAggregator.cpp.

◆ pointCloud()

const LaserScanAggregator::PointCloud::Ptr & pointCloud ( ) const

Definition at line 73 of file LaserScanAggregator.cpp.

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