36 Scan(
double max_range,
40 double laser_noise_range,
41 double laser_noise_bearing);
43 const Uloc & uloc(
const int i)
const;
51 const DoublesVector& bearings);
53 int ScanCount(
void)
const;
55 double phi(
const int i)
const;
56 double rho(
const int i)
const;
58 const double kOutOfRange_;
59 const double kLaserNoiseRange_;
60 const double kLaserNoiseBearing_;
62 Uloc AttachReferenceToScanPoint(
double rho,
double phi);
70 Transf xform_laser_to_robot_;
void SetLastScan(const DoublesVector &ranges, const DoublesVector &bearings)
Set last laser reading Removes out of range values and attaches the uncertainty model.
Definition: scan.cc:87
void SetLaserPose(double x, double y, double a)
Update laser pose.
Definition: scan.cc:41