#include <Lidar.h>

Inheritance diagram for rtabmap::Lidar:

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Collaboration diagram for rtabmap::Lidar:

Protected Member Functions
	Lidar (float lidarRate=0, const Transform &localTransform=Transform::getIdentity())

Protected Member Functions inherited from rtabmap::SensorCapture
	SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
	Protected constructor.

virtual SensorData	captureData (SensorCaptureInfo *info=0)=0
	Pure virtual method to capture sensor data.

int	getNextSeqID ()
	Gets the next sequence ID.

Additional Inherited Members
Public Member Functions inherited from rtabmap::SensorCapture
virtual	~SensorCapture ()
	Virtual destructor.

SensorData	takeData (SensorCaptureInfo *info=0)
	Captures sensor data with frame rate control.

virtual bool	init (const std::string &calibrationFolder=".", const std::string &cameraName="")=0
	Initializes the sensor.

virtual std::string	getSerial () const =0
	Returns the sensor's serial number or unique identifier.

virtual bool	odomProvided () const
	Checks if the sensor provides odometry poses.

virtual bool	getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
	Gets the sensor's pose estimate at a specific timestamp.

float	getFrameRate () const
	Returns the target frame rate.

const Transform &	getLocalTransform () const
	Returns the local transform from base frame to sensor frame.

void	setFrameRate (float frameRate)
	Sets the target frame rate.

void	setLocalTransform (const Transform &localTransform)
	Sets the local transform from base frame to sensor frame.

void	resetTimer ()
	Resets the frame rate timer.

Detailed Description

Class Lidar

Definition at line 40 of file Lidar.h.

Constructor & Destructor Documentation

virtual rtabmap::Lidar::~Lidar ( )

inlinevirtual

Definition at line 43 of file Lidar.h.

rtabmap::Lidar::Lidar	(	float	lidarRate = `0`,
		const Transform &	localTransform = `Transform::getIdentity()`
	)

inlineprotected

Constructor

Parameters

lidarRate	the frame rate (Hz), 0 for fast as the lidar can
localTransform	the transform from base frame to lidar frame

Definition at line 52 of file Lidar.h.

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