LaserDeadSpotCalibrator Class Reference

Calibrator for dead ranges. More...

Inheritance diagram for LaserDeadSpotCalibrator:

Inheritance graph
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List of all members.


Public Member Functions

 LaserDeadSpotCalibrator (unsigned int num_spots, unsigned int num_measurements, float compare_distance, float margin, BlackBoard *blackboard, Laser360Interface *laser360, Laser720Interface *laser720)
 Constructor.
void wait_finished ()
 Wait for the calibration to be finished.
std::vector< std::pair< float,
float > > 		get_dead_spots ()
 Get spots.
unsigned int num_detected_spots ()
 Get number of spots.

Detailed Description

Calibrator for dead ranges.

Depending how the laser is mounted parts of the range it covers might be useless data, for example if hidden behind rods. This calibrator detects those ranges and writes the information to the config suitable to be used by the LaserDeadSpotsDataFilter.

Author:
Tim Niemueller

Definition at line 77 of file deadspots.cpp.

Constructor & Destructor Documentation

LaserDeadSpotCalibrator::LaserDeadSpotCalibrator ( unsigned int  num_spots,
unsigned int  num_measurements,
float  compare_distance,
float  margin,
BlackBoard *  blackboard,
Laser360Interface *  laser360,
Laser720Interface *  laser720 
) [inline]

Constructor.

Parameters:
num_spots number of expected spots
num_measurements number of measurements to take
compare_distance distance to compare values to
margin extra margin in degree to add around detected regions
blackboard blackboard to register with as listener
laser360 360 beams laser interface
laser720 720 beams laser interface

Definition at line 89 of file deadspots.cpp.

References fawkes::BlackBoardInterfaceListener::bbil_add_data_interface(), fawkes::Interface::has_writer(), fawkes::Laser720Interface::maxlenof_distances(), fawkes::Laser360Interface::maxlenof_distances(), and fawkes::BlackBoard::register_listener().

Member Function Documentation

std::vector<std::pair<float, float> > LaserDeadSpotCalibrator::get_dead_spots (  )  [inline]

Get spots.

Returns:
vector of detected dead regions

Definition at line 135 of file deadspots.cpp.

unsigned int LaserDeadSpotCalibrator::num_detected_spots (  )  [inline]

Get number of spots.

Returns:
number of spots

Definition at line 144 of file deadspots.cpp.

void LaserDeadSpotCalibrator::wait_finished (  )  [inline]

Wait for the calibration to be finished.

Definition at line 125 of file deadspots.cpp.

References fawkes::WaitCondition::wait().

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