67 lines
2.4 KiB
Matlab
67 lines
2.4 KiB
Matlab
classdef Scan
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%A class for Lidar scans used in SLAM
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%
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% Copyright (C) 2014 Simon D. Levy
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%
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% This code is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as
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% published by the Free Software Foundation, either version 3 of the
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% License, or (at your option) any later version.
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%
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% This code is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU General Public License for more details.
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%
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% You should have received a copy of the GNU Lesser General Public License
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% along with this code. If not, see <http:#www.gnu.org/licenses/>.
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properties (Access = {?Map, ?RMHC_SLAM})
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c_scan
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end
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methods
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function scan = Scan(laser, span)
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% Creates a new scan object
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% scan = Scan(laser, [span])
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% laser is a structure with the fields:
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% scan_size
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% scan_rate_hz
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% detection_angle_degrees
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% distance_no_detection_mm
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% distance_no_detection_mm
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% detection_margin
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% offset_mm = offset_mm
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% span (default=1) supports spanning laser scan to cover the space better
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if nargin < 2
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span = 1;
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end
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scan.c_scan = mex_breezyslam('Scan_init', laser, span);
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end
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function disp(scan)
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% Displays information about this Scan
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mex_breezyslam('Scan_disp', scan.c_scan)
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end
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function update(scan, scans_mm, hole_width_mm, velocities)
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% Updates scan with new lidar and velocity data
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% update(scans_mm, hole_width_mm, [velocities])
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% scans_mm is a list of integers representing scanned distances in mm.
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% hole_width_mm is the width of holes (obstacles, walls) in millimeters.
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% velocities is an optional list[dxy_mm, dtheta_degrees]
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% i.e., robot's (forward, rotational velocity) for improving the quality of the scan.
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mex_breezyslam('Scan_update', scan.c_scan, int32(scans_mm), hole_width_mm, velocities)
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end
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end
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end
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