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mobile_robotics
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wolf_lib
wolf
Commits
48e3099a
Commit
48e3099a
authored
10 years ago
by
acoromin
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CaptureLaser2D added. CaptureBase::getCorrespondenceList() implemented but not tested
parent
d56a5ffd
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src/capture_laser_2D.cpp
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48e3099a
#include
"capture_laser_2D.h"
CaptureLaser2D
::
CaptureLaser2D
(
const
TimeStamp
&
_ts
,
const
SensorLaser2DPtr
&
_sensor_ptr
,
const
Eigen
::
VectorXs
&
_ranges
)
:
CaptureBase
(
_ts
,
_sensor_ptr
,
_ranges
)
{
//
}
CaptureLaser2D
::~
CaptureLaser2D
()
{
//
}
void
CaptureLaser2D
::
processCapture
()
{
extractCorners
();
}
void
CaptureLaser2D
::
extractCorners
()
{
std
::
cout
<<
"Extracting corners ... "
<<
std
::
endl
;
//TODO by Andreu: create class FeatureCorner2D + main to test this method.
//TODO by Juan AC
// Laser ranges are at data_
// Scan size is data_.size()
// Corners should be created as FeatureCorner2D. Corner 3 params to be stored at FeatureBase::measurement_
// After creation, they have to be pushed back to down_node_list_ by means of the method Capture::addFeature(const FeatureShPtr& _f_ptr)
}
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