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

/**
*Construct a new Object based on a set of rpos::core::LaserPoint.
*/ 
LaserScan(const std::vector<rpos::core::LaserPoint>&);

/**
* Copy contructors.
*/
LaserScan(const LaserScan&);

Operators

/**
* Assignment operator.
*/
LaserScan& operator=(const LaserScan&);

Methods

/**
* Retrieves the LaserPoint data collection.
*/
const std::vector<core::LaserPoint>& getLaserPoints() const;

/**
* Set the scan points data to the object.
*/
void setLaserPoints(const std::vector<core::LaserPoint>& data, rpos::system::types::_u64 timestamp);

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

/**
* Set the centor pose of the current laser scan. 
*/
void setLaserPointsPose(const rpos::core::Pose& pose);

/**
* Retrieve the centor pose of the current laser scan. 
*/
const rpos::core::Pose& getLaserPointsPose() const;

/**
* Set wheter the current scan object contains valid pose data.
*/
void setHasPose(bool hasPose);

/**
* Returns wheter the current scan object contains valid pose data.
*/
bool getHasPose() const;