Carmen
Class LaserMessage

java.lang.Object
  Carmen.Message
      Carmen.LaserMessage

public class LaserMessage
extends Message

Carmen FrontLaserHandler's and RearLaserHandler's message

Field Summary

LaserConfig	config
double	forward_safety_dist application defined safety distance in metres
Point	laser_pose position of the center of the laser
int	num_readings
int	num_remissions
float[]	range
float[]	remission
Point	robot_pose position of the center of the robot
double	rv robot state: translational velocity and rotational velocity
double	side_safety_dist application defined safety distance in metres
char[]	tooclose
double	turn_axis
double	tv robot state: translational velocity and rotational velocity

Fields inherited from class Carmen.Message

host, timestamp

Constructor Summary

LaserMessage()

Method Summary

static void	subscribeFront(FrontLaserHandler handler) Application module calls this to subscribe to LaserMessage.
static void	subscribeRear(RearLaserHandler handler) Application module calls this to subscribe to LaserMessage.

Methods inherited from class Carmen.Message

publish, subscribe

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

config

public LaserConfig config

num_readings

public int num_readings

range

public float[] range

tooclose

public char[] tooclose

num_remissions

public int num_remissions

remission

public float[] remission

laser_pose

public Point laser_pose

position of the center of the laser

robot_pose

public Point robot_pose

position of the center of the robot

tv

public double tv

robot state: translational velocity and rotational velocity

rv

public double rv

robot state: translational velocity and rotational velocity

forward_safety_dist

public double forward_safety_dist

application defined safety distance in metres

side_safety_dist

public double side_safety_dist

application defined safety distance in metres

turn_axis

public double turn_axis

Constructor Detail

LaserMessage

public LaserMessage()

Method Detail

subscribeFront

public static void subscribeFront(FrontLaserHandler handler)

Application module calls this to subscribe to LaserMessage. Application module must extend either FrontLaserHandler or RearLaserHandler.

subscribeRear

public static void subscribeRear(RearLaserHandler handler)

Application module calls this to subscribe to LaserMessage. Application module must extend either FrontLaserHandler or RearLaserHandler.