ArLaserFilter Class Reference

#include <ArLaserFilter.h>

Inheritance diagram for ArLaserFilter:

List of all members.

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Detailed Description

Range device with data obtained from another range device and filtered.

This is a class for generically filtering laser readings, either to separate out ones that are too far or too close compared to their neighbors. The filtering parameters can be adjusted on line through ArConfig options.

This implements ArLaser and so can be used like any other laser, though you have to set all its options before you create this and probably should connect it too. Then you should replace the original laser on ArRobot with this one, and replace the original laser as a range device too.

Public Member Functions
void	addToConfig (ArConfig *config, const char *sectionName, const char *prefix="")
	Add to the config.
	ArLaserFilter (ArLaser *laser, const char *name=NULL)
	Constructor.
virtual bool	asyncConnect (void)
virtual bool	blockingConnect (void)
virtual bool	disconnect (void)
ArLaser *	getBaseLaser (void)
	Gets the base laser this is filtering.
virtual bool	isConnected (void)
virtual bool	isTryingToConnect (void)
virtual bool	laserCheckParams (void)
virtual void *	runThread (void *arg)
virtual void	setRobot (ArRobot *robot)
	Set robot.
	~ArLaserFilter ()
	Destructor.
Protected Member Functions
bool	checkRanges (int thisReading, int otherReading, double factor)
	Does the check against all neighbor factor.
void	processReadings (void)
int	selfLockDevice (void)
int	selfTryLockDevice (void)
int	selfUnlockDevice (void)
Protected Attributes
double	myAllFactor
double	myAngleToCheck
double	myAnyFactor
ArLaser *	myLaser
int	myMaxRange
ArFunctorC< ArLaserFilter >	myProcessCB

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Member Function Documentation

bool ArLaserFilter::checkRanges	(	int	thisReading,
		int	otherReading,
		double	factor
	)			[protected]

Does the check against all neighbor factor.

Returns:

Return true if the reading is good, false if the reading is bad

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

• ArLaserFilter.h
• ArLaserFilter.cpp

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