lobot::LaserViz Class Reference

A drawable for visualizing laser range finder data. More...

#include <Robots/LoBot/ui/LoLaserViz.H>

Inheritance diagram for lobot::LaserViz:

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Collaboration diagram for lobot::LaserViz:

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List of all members.

Classes
class	Params
Public Member Functions
	LaserViz (const LaserRangeFinder *)
	Initialization.
	~LaserViz ()
	Clean-up.

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Detailed Description

A drawable for visualizing laser range finder data.

This class uses OpenGL to visualize the Hokuyo laser range finder's distance measurements. A world coordinate system is setup to match the maximum range of the laser range finder and the device itself is depicted as a small triangle centered at the origin of the world coordinate system. A grid is overlaid on the world coordinate system with cells at regular intervals and the distance measurements are shown as rays emanating from the central triangle in each supported direction. Instead of a grid, the visualizer may also be configured to display concentric rings to help users gauge the distances being measured by the LRF.

The user may tweak various parameters such as grid spacing, measurement ray directions, etc. Zoom and pan are also supported.

Definition at line 87 of file LoLaserViz.H.

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Constructor & Destructor Documentation

lobot::LaserViz::LaserViz

(

const LaserRangeFinder *

lrf

)

Initialization.

Definition at line 67 of file LoLaserViz.C.

References lobot::LaserRangeFinder::get_distance_range().

lobot::LaserViz::~LaserViz

(

)

Clean-up.

Definition at line 239 of file LoLaserViz.C.

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

• src/Robots/LoBot/ui/LoLaserViz.H
• src/Robots/LoBot/ui/LoLaserViz.C