<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd"> <html> <!-- $Id: header.html 8799 2010-06-28 04:12:42Z jpgr87 $ --> <HEAD> <meta HTTP-EQUIV="Content-Type" CONTENT="text/html;CHARSET=utf-8"> <meta name="keywords" content="stage, robot, simulation, player, player/stage"> <link href="doxygen.css" rel="stylesheet" type="text/css"> <style type="text/css"> .floatright { float: right; margin: 0 0 1em 1em; } body { font-family: sans-serif; #font-family: Geneva, Verdana, Helvetica, Arial, sans-serif; background-color: #FFF; color:#000; } a:link { color: #A00; } a:visited { color: #800; } a { text-decoration: none; } a:hover { text-decoration: underline; } .timestamp { text-align:right; background-color: #DDD; font-size:75%;} h1 { font-size:160%; } h2 { font-size:110%; #color: #FFF; #background-color: #666; #padding:3px; } h3 { text-align:left; } img { border: 0; } ul.menu { position:relative; left:-2.5em; margin-bottom:0px; margin-top:0px; } ul.menu1 { 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<div id="content" > <!-- Generated by Doxygen 1.7.1 --> <div class="header"> <div class="headertitle"> <h1>laserposeinterpolator<br/> <small> [<a class="el" href="group__drivers.html">Drivers</a>]</small> </h1> </div> </div> <div class="contents"> <p>Attach poses to laser scans. <a href="#_details">More...</a></p> <table class="memberdecls"> </table> <p>Attach poses to laser scans. </p> <p>The laserposeinterpolator driver reads laser scans from a laser device and poses from a position2d device, linearly interpolates to estimate the actual pose from which the scan was taken, then outputs messages containing both scan and pose.</p> <dl class="user"><dt><b>Compile-time dependencies</b></dt><dd></dd></dl> <ul> <li>none</li> </ul> <dl class="user"><dt><b>Provides</b></dt><dd></dd></dl> <ul> <li><a class="el" href="group__interface__laser.html">laser</a> : Pose-stamped laser scans (subtype PLAYER_LASER_DATA_SCANPOSE) are published via this interface</li> </ul> <dl class="user"><dt><b>Requires</b></dt><dd></dd></dl> <ul> <li><a class="el" href="group__interface__laser.html">laser</a> : Raw laser scans (subtype PLAYER_LASER_DATA_SCAN) are read from this device</li> <li><a class="el" href="group__interface__position2d.html">position2d</a> : Pose data (subtype PLAYER_POSITION2D_DATA_STATE) is read from this device</li> </ul> <dl class="user"><dt><b>Configuration requests</b></dt><dd></dd></dl> <ul> <li>All configuration are forwarded to the underlying <a class="el" href="group__interface__laser.html">laser</a> device for handling.</li> </ul> <dl class="user"><dt><b>Configuration file options</b></dt><dd></dd></dl> <ul> <li>interpolate (integer)<ul> <li>Default: 1</li> <li>Linearly interpolate between poses for each scan (1), or just attach the most recent pose to each scan (0).</li> </ul> </li> <li>max_scans (integer)<ul> <li>Default: 100</li> <li>Maximum number of scans to buffer while waiting for a second pose in order to interpolate.</li> </ul> </li> <li>update_thresh ([length angle] tuple)<ul> <li>Default: [-1.0 -1.0]</li> <li>Minimum change in pose (translation or rotation) required before a new laser scan will be published. Use this option to choke the data rate. Set either value to -1.0 to indicate that no threshold should be applied in that dimension (i.e., every scan should be published).</li> </ul> </li> <li>update_interval (float, seconds)<ul> <li>Default: -1.0</li> <li>Interval after which a new scan will be published, regardless of how far the robot has moved. Set to -1.0 to disable this threshold.</li> </ul> </li> <li>send_all_scans (integer)<ul> <li>Default: 1</li> <li>Whether to stamp and publish every laser scan. If set to 1, this option overrides update_thresh and update_interval.</li> </ul> </li> </ul> <dl class="user"><dt><b>Example</b></dt><dd></dd></dl> <div class="fragment"><pre class="fragment"> driver ( name "sicklms200" provides ["laser:0"] ) driver ( name "p2os" provides ["odometry::position:0"] ) driver ( name "laserposeinterpolator" provides ["laser:1"] requires ["laser:0" "position2d:0"] ) </pre></div><dl class="author"><dt><b>Author:</b></dt><dd>Brian Gerkey </dd></dl> </div> <!-- render the modification time of the source file --> <div class="timestamp"> <hr> <table style="width:100%;"> <tr> <td style="text-align:left;"> Last updated 12 September 2005 21:38:45 <!-- <td style="text-align:right;"> <a href="http://validator.w3.org/check/referer"><img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://www.w3.org/Icons/valid-html401" alt="Valid HTML 4.01!"></a> <a href="http://jigsaw.w3.org/css-validator/"> <img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://jigsaw.w3.org/css-validator/images/vcss" alt="Valid CSS!"> </a> --> </tr> </table> </div> </tr> </table> </BODY> </HTML>