nav2_costmap_2d::Observation Class Reference

Stores an observation in terms of a point cloud and the origin of the source. More...

#include <nav2_costmap_2d/include/nav2_costmap_2d/observation.hpp>

Collaboration diagram for nav2_costmap_2d::Observation:

Public Member Functions
	Observation ()
	Creates an empty observation.
virtual	~Observation ()
	A destructor.
Observation &	operator= (const Observation &obs)
	Copy assignment operator. More...
	Observation (geometry_msgs::msg::Point &origin, const sensor_msgs::msg::PointCloud2 &cloud, double obstacle_max_range, double obstacle_min_range, double raytrace_max_range, double raytrace_min_range)
	Creates an observation from an origin point and a point cloud. More...
	Observation (const Observation &obs)
	Copy constructor. More...
	Observation (const sensor_msgs::msg::PointCloud2 &cloud, double obstacle_max_range, double obstacle_min_range)
	Creates an observation from a point cloud. More...

Public Attributes
geometry_msgs::msg::Point	origin_
sensor_msgs::msg::PointCloud2 *	cloud_
double	obstacle_max_range_
double	obstacle_min_range_
double	raytrace_max_range_
double	raytrace_min_range_

Detailed Description

Stores an observation in terms of a point cloud and the origin of the source.

Note

Tried to make members and constructor arguments const but the compiler would not accept the default assignment operator for vector insertion!

Definition at line 46 of file observation.hpp.

Constructor & Destructor Documentation

Observation() [1/3]

nav2_costmap_2d::Observation::Observation ( geometry_msgs::msg::Point &  origin, const sensor_msgs::msg::PointCloud2 &  cloud, double  obstacle_max_range, double  obstacle_min_range, double  raytrace_max_range, double  raytrace_min_range  )

inline

Creates an observation from an origin point and a point cloud.

Parameters

origin	The origin point of the observation
cloud	The point cloud of the observation
obstacle_max_range	The range out to which an observation should be able to insert obstacles
obstacle_min_range	The range from which an observation should be able to insert obstacles
raytrace_max_range	The range out to which an observation should be able to clear via raytracing
raytrace_min_range	The range from which an observation should be able to clear via raytracing

Definition at line 91 of file observation.hpp.

Observation() [2/3]

nav2_costmap_2d::Observation::Observation ( const Observation &  obs )

inline

Copy constructor.

Parameters

obs	The observation to copy

Definition at line 106 of file observation.hpp.

Observation() [3/3]

nav2_costmap_2d::Observation::Observation ( const sensor_msgs::msg::PointCloud2 &  cloud, double  obstacle_max_range, double  obstacle_min_range  )

inline

Creates an observation from a point cloud.

Parameters

cloud	The point cloud of the observation
obstacle_max_range	The range out to which an observation should be able to insert obstacles
obstacle_min_range	The range from which an observation should be able to insert obstacles

Definition at line 120 of file observation.hpp.

Member Function Documentation

operator=()

Observation& nav2_costmap_2d::Observation::operator= ( const Observation &  obs )

inline

Copy assignment operator.

Parameters

obs	The observation to copy

Definition at line 70 of file observation.hpp.

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

• nav2_costmap_2d/include/nav2_costmap_2d/observation.hpp