23 #ifndef _PLUGINS_LASER_FILTER_FILTERS_PROJECTION_H_
24 #define _PLUGINS_LASER_FILTER_FILTERS_PROJECTION_H_
29 # error LaserProjectionDataFilter only availabe with TF
32 #include <tf/transformer.h>
46 std::string target_frame,
54 std::vector<LaserDataFilter::Buffer *> &
in);
60 inline void set_output(
float *outbuf, fawkes::tf::Point &p);
64 const std::string target_frame_;
65 const float not_from_x_, not_to_x_;
66 const float not_from_y_, not_to_y_;
67 const float only_from_z_, only_to_z_;
69 float sin_angles360[360];
70 float cos_angles360[360];
71 float sin_angles720[720];
72 float cos_angles720[720];
unsigned int in_data_size
Number of entries in input arrays.
std::string filter_name
Name of the specific filter instance.
std::vector< Buffer * > in
Vector of input arrays.
Projects one laser into another laser's plane.
void filter()
Filter the incoming data.
LaserProjectionDataFilter(const std::string &filter_name, fawkes::tf::Transformer *tf, std::string target_frame, float not_from_x, float not_to_x, float not_from_y, float not_to_y, float only_from_z, float only_to_z, unsigned int in_data_size, std::vector< LaserDataFilter::Buffer * > &in)
Constructor.
Fawkes library namespace.