This sensor let the robot observe a segment in a pseudo image. More...

Detailed Description

This sensor let the robot observe a segment in a pseudo image.

Definition at line 273 of file sensor.hpp.

#include <sensor.hpp>

Inheritance diagram for jafar::simu::SensorSegmentImage:

Public Member Functions
	SensorSegmentImage (jafar::camera::CameraPinhole const &camera_, double dRange_, jblas::vec const &noiseCov_, double minSegmentSize_, bool doAddNoise=false, unsigned int randomSeed=1, double noiseFactor=1.0, unsigned int sensorId_=0, slam::Observation::ObservationType type_=slam::Observation::SEGMENT_IMAGE)
	SensorSegmentImage (jafar::camera::CameraPinhole const &camera_, double dRange_, jblas::vec const &noiseCov_, std::size_t zSize_, double minSegmentSize_, bool doAddNoise=false, unsigned int randomSeed=1, double noiseFactor=1.0, unsigned int sensorId_=0, slam::Observation::ObservationType type_=slam::Observation::SEGMENT_IMAGE)
virtual bool	isInRange (jblas::vec const &sensor_, Segment const &seg_) const
virtual jafar::slam::Observation *	observe (jblas::vec const &sensor_, Segment const &seg_, unsigned int _robotId)
void	setSegmentObservationsSelector (slam::SegmentObservationsSelector *_selector)
Public Attributes
double	minSegmentSize
	minimal size of a segment in pixel
jafar::camera::CameraPinhole	camera
double	range
slam::Observation::ObservationType	type
Protected Member Functions
virtual bool	findVisibleExtremities (jblas::vec3 const &ext1_, jblas::vec3 const &ext2_, jblas::vec2 &pix1, jblas::vec2 &pix2, double step=0.1) const
Protected Attributes
jafar::slam::SegmentObservationsSelector *	m_obsevationsSelector
Friends
std::ostream &	operator<< (std::ostream &s, const SensorSegmentImage &sensor_)

Member Function Documentation

virtual bool jafar::simu::SensorSegmentImage::findVisibleExtremities	(	jblas::vec3 const &	ext1_,
		jblas::vec3 const &	ext2_,
		jblas::vec2 &	pix1,
		jblas::vec2 &	pix2,
		double	step = `0.1`
	)		const `[protected, virtual]`

Parameters:

step	size of search steps in meters

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