Package org.robwork.sdurw

Class Scanner2DModel

java.lang.Object

org.robwork.sdurw_kinematics.Stateless

org.robwork.sdurw.SensorModel

org.robwork.sdurw.Scanner2DModel

public class Scanner2DModel
extends SensorModel

The Scanner2DModel encapsulate the basic model of a
2 dimensional range scanning device such as SICK or Hokyuo laser
range scanners.

The model supports any range scanner that measures distance in
an arc around the origin of the sensor. The scanner scans in the z-x plane
with z-axis being the 0 angle measurement.

TODO: enable the selection of internal format, either pointcloud (large) or
range-array (compact).

Constructor Summary

Constructors

Constructor	Description
Scanner2DModel(long cPtr, boolean cMemoryOwn)
Scanner2DModel(java.lang.String name, double angularRangeInRad, int maxDataPoints, Frame frame)	constructor

Method Summary

Modifier and Type	Method	Description
void	delete()
pairDoubleDouble	getAngularRange()	Returns the min and max angular range of the scanner, where the angles represent the beginning and end of scanning in the z-x plane. Hence, angles represent rotation of z-axis around the y-axis.
static long	getCPtr(Scanner2DModel obj)
pairDoubleDouble	getDistanceRange()	get the min an max range in meters that is scannable by the 2D scanner
long	getMeasurementCount()	Returns the number of scan points
PointCloud	getScan(State state)	get handle to point cloud data in state.
void	setDistanceRange(double min, double max)	set distance range
void	setDistanceRange(pairDoubleDouble range)	set distance range
void	setScan(PointCloud data, State state)	set point cloud data in state

Methods inherited from class org.robwork.sdurw.SensorModel

attachTo, getCPtr, getDescription, getFrame, getName, getPropertyMap, setDescription, setName

Methods inherited from class org.robwork.sdurw_kinematics.Stateless

getCPtr, getStateStructure, isRegistered, registerIn, registerIn, unregister

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Scanner2DModel

public Scanner2DModel(long cPtr,
                      boolean cMemoryOwn)

Scanner2DModel

public Scanner2DModel(java.lang.String name,
                      double angularRangeInRad,
                      int maxDataPoints,
                      Frame frame)

constructor

Parameters:

name - [in] name of scanner sensor

angularRangeInRad - [in] angular range in rad, with middle scan
point pointin along z-axis

maxDataPoints - [in] the number of scan points

frame - [in] the sensor frame

Method Detail

getCPtr

public static long getCPtr(Scanner2DModel obj)

delete

public void delete()

Overrides:

delete in class SensorModel

getScan

public PointCloud getScan(State state)

get handle to point cloud data in state.

Parameters:

state - [in] the state with point cloud data

setScan

public void setScan(PointCloud data,
                    State state)

set point cloud data in state

Parameters:

data - [in] point cloud data to set

state - [in] state in which to set the point cloud

getAngularRange

public pairDoubleDouble getAngularRange()

Returns the min and max angular range of the scanner, where
the angles represent the beginning and end of scanning in the z-x plane.
Hence, angles represent rotation of z-axis around the y-axis. Normally range would
be something like -170 to 170 degree for a Hokyo or Sick scanner

Returns:

Angular range in radians

getMeasurementCount

public long getMeasurementCount()

Returns the number of scan points

getDistanceRange

public pairDoubleDouble getDistanceRange()

get the min an max range in meters that is scannable by the 2D scanner

Returns:

range in meters

setDistanceRange

public void setDistanceRange(pairDoubleDouble range)

set distance range

Parameters:

range -

setDistanceRange

public void setDistanceRange(double min,
                             double max)

set distance range

Parameters:

min - documentation missing !

max - documentation missing !