mpp::ObstacleSourceGenericSensor Class Reference

#include <mpp/interfaces/ObstacleSource.h>

Inheritance diagram for mpp::ObstacleSourceGenericSensor:

Public Member Functions
	ObstacleSourceGenericSensor ()
void	set_sensor_observation (const mrpt::obs::CObservation::Ptr &o, const mrpt::poses::CPose3D &robotPose)
mrpt::obs::CObservation::Ptr	get_stored_sensor_observation () const
mrpt::maps::CPointsMap::Ptr	obstacles ([[maybe_unused]] mrpt::system::TTimeStamp t=mrpt::system::TTimeStamp()) override
Public Member Functions inherited from mpp::ObstacleSource
	ObstacleSource ()=default
virtual	~ObstacleSource ()
virtual mrpt::maps::CPointsMap::Ptr	obstacles (mrpt::system::TTimeStamp t=mrpt::system::TTimeStamp())=0
virtual bool	dynamic () const

Private Attributes
std::mutex	obsMtx_
mrpt::obs::CObservation::Ptr	obs_
mrpt::poses::CPose3D	robotPoseForObs_

Additional Inherited Members
Public Types inherited from mpp::ObstacleSource
using	Ptr = std::shared_ptr< ObstacleSource >
Static Public Member Functions inherited from mpp::ObstacleSource
static Ptr	FromStaticPointcloud (const mrpt::maps::CPointsMap::Ptr &pc)

Detailed Description

Obstacles from a generic MRPT observation (2D lidar, 3D camera, velodyne, etc.). This creates a pointcloud with obstacles in the global nav frame, from the raw observation data and a robot pose from an external localization system.

Constructor & Destructor Documentation

ObstacleSourceGenericSensor()

mpp::ObstacleSourceGenericSensor::ObstacleSourceGenericSensor ( )

inline

Member Function Documentation

get_stored_sensor_observation()

mrpt::obs::CObservation::Ptr mpp::ObstacleSourceGenericSensor::get_stored_sensor_observation ( ) const

inline

obstacles()

mrpt::maps::CPointsMap::Ptr mpp::ObstacleSourceGenericSensor::obstacles ( [[maybe_unused] ] mrpt::system::TTimeStamp  t = mrpt::system::TTimeStamp() )

inlineoverride

set_sensor_observation()

void mpp::ObstacleSourceGenericSensor::set_sensor_observation ( const mrpt::obs::CObservation::Ptr &  o, const mrpt::poses::CPose3D &  robotPose  )

inline

Member Data Documentation

obs_

mrpt::obs::CObservation::Ptr mpp::ObstacleSourceGenericSensor::obs_

private

obsMtx_

std::mutex mpp::ObstacleSourceGenericSensor::obsMtx_

private

robotPoseForObs_

mrpt::poses::CPose3D mpp::ObstacleSourceGenericSensor::robotPoseForObs_

private

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

• /home/docs/checkouts/readthedocs.org/user_builds/selfdriving/checkouts/latest/mrpt_path_planning/include/mpp/interfaces/ObstacleSource.h