30 #ifndef _REC_ROBOTINO_API2_LASERRANGEFINDERREADINGS_H_ 31 #define _REC_ROBOTINO_API2_LASERRANGEFINDERREADINGS_H_ 63 , _intensities( NULL )
64 , _intensitiesSize( 0 )
66 _frame_id =
new char[1];
85 , _intensities( NULL )
86 , _intensitiesSize( 0 )
89 setRanges( other._ranges, other._rangesSize );
100 delete [] _intensities;
119 _intensities = NULL ;
120 _intensitiesSize = 0 ;
123 setRanges( other._ranges, other._rangesSize );
146 _frame_id =
new char[1];
150 size_t len = strlen( frame_id );
151 _frame_id =
new char[ len+1 ];
152 strncpy( _frame_id, frame_id, len+1 );
160 void ranges(
const float** readings,
unsigned int* rangesSize = NULL )
const 162 if( NULL != rangesSize )
164 *rangesSize = _rangesSize;
176 if( rangesSize != _rangesSize )
178 _rangesSize = rangesSize;
181 if( 0 == _rangesSize )
186 _ranges =
new float[ rangesSize ];
189 memcpy( _ranges, ranges, _rangesSize *
sizeof(
float ) );
213 void intensities(
const float** readings,
unsigned int* intensitiesSize = NULL )
const 215 if( NULL != intensitiesSize )
217 *intensitiesSize = _intensitiesSize;
219 *readings = _intensities;
229 if( intensitiesSize != _intensitiesSize )
231 _intensitiesSize = intensitiesSize;
232 delete [] _intensities;
234 if( 0 == _intensitiesSize )
239 _intensities =
new float[ intensitiesSize ];
242 memcpy( _intensities, intensities, _intensitiesSize *
sizeof(
float ) );
250 return _intensitiesSize;
256 delete [] _intensities;
258 _intensitiesSize = 0;
285 unsigned int _rangesSize;
288 unsigned int _intensitiesSize;
294 #endif //_REC_ROBOTINO_API2_LASERRANGEFINDERREADINGS_H_ LaserRangeFinderReadings(const LaserRangeFinderReadings &other)
Definition: LaserRangeFinderReadings.h:73
void ranges(const float **readings, unsigned int *rangesSize=NULL) const
Definition: LaserRangeFinderReadings.h:160
float angle_increment
Definition: LaserRangeFinderReadings.h:271
unsigned int numRanges() const
Definition: LaserRangeFinderReadings.h:195
LaserRangeFinderReadings()
Definition: LaserRangeFinderReadings.h:51
float range_min
Definition: LaserRangeFinderReadings.h:277
const char * frame_id() const
Definition: LaserRangeFinderReadings.h:132
Sensor readings of Robotino's (optional) laser rangefinder.
Definition: LaserRangeFinderReadings.h:45
void set_frame_id(const char *frame_id)
Definition: LaserRangeFinderReadings.h:141
float scan_time
Definition: LaserRangeFinderReadings.h:275
float angle_max
Definition: LaserRangeFinderReadings.h:269
unsigned int seq
Definition: LaserRangeFinderReadings.h:262
void setIntensities(const float *intensities, unsigned int intensitiesSize)
Definition: LaserRangeFinderReadings.h:227
LaserRangeFinderReadings & operator=(const LaserRangeFinderReadings &other)
Definition: LaserRangeFinderReadings.h:106
float range_max
Definition: LaserRangeFinderReadings.h:279
void clearRanges()
Definition: LaserRangeFinderReadings.h:201
float angle_min
Definition: LaserRangeFinderReadings.h:267
Definition: AnalogInput.h:36
unsigned int numIntensities() const
Definition: LaserRangeFinderReadings.h:248
void clearIntensities()
Definition: LaserRangeFinderReadings.h:254
unsigned int stamp
Definition: LaserRangeFinderReadings.h:264
void setRanges(const float *ranges, unsigned int rangesSize)
Definition: LaserRangeFinderReadings.h:174
float time_increment
Definition: LaserRangeFinderReadings.h:273
void intensities(const float **readings, unsigned int *intensitiesSize=NULL) const
Definition: LaserRangeFinderReadings.h:213
~LaserRangeFinderReadings()
Definition: LaserRangeFinderReadings.h:96