rpos::features::system_resource::LaserScan Class

LaserScan is the collection of a series of LaserPoint objects that represents a scan iteration of an LIDAR sensor.

Header File

rpos/features/system_resource.h

Applies to

• Slamware
• Mapper

Constructors

LaserScan(const std::vector<rpos::core::LaserPoint>&)

Construct a new Object based on a set of rpos::core::LaserPoint

LaserScan(const LaserScan&)

Copy contructors.

Operators

LaserScan& operator=(const LaserScan&)

Assignment operator

Methods

const std::vector<core::LaserPoint>& getLaserPoints() const

Retrieves the LaserPoint data collection

void setLaserPoints(const std::vector<core::LaserPoint>& data, rpos::system::types::_u64 timestamp)

Set the scan points data to the object

Paramer Name	Type	Description
data	const std::vector<core::LaserPoint>&	The LaserPoint collection data to be set
timestamp	rpos::system::types::_u64	Timestamp of the laser scan

void setLaserPointsPose(const rpos::core::Pose& pose)

Set the centor pose of the current laser scan.

const rpos::core::Pose& getLaserPointsPose() const

Retrieve the centor pose of the current laser scan.

void setHasPose(bool hasPose)

Set wheter the current scan object contains valid pose data.

bool getHasPose() const

Returns wheter the current scan object contains valid pose data.