us.ihmc.utilities.lidar.polarLidar.geometry
Class PolarLidarScanParameters

java.lang.Object
  extended by us.ihmc.utilities.lidar.polarLidar.geometry.PolarLidarScanParameters

public class PolarLidarScanParameters
extends java.lang.Object


Field Summary
 float angleIncrement
           
 boolean isTakenBySCS
           
 float maxRange
           
 float minRange
           
 int pointsPerSweep
           
 float scanRollMax
           
 float scanRollMin
           
 float scanTime
           
 int sweepsPerScan
           
 float sweepYawMax
           
 float sweepYawMin
           
 float timeIncrement
           
 
Constructor Summary
PolarLidarScanParameters()
           
PolarLidarScanParameters(boolean isTakenBySCS, int pointsPerSweep, int sweepsPerScan, float sweepYawMax, float sweepYawMin, float angleIncrement, float timeIncrement, float scanTime, float scanRollMax, float scanRollMin, float minRange, float maxRange)
           
 
Method Summary
static java.lang.String displayString(PolarLidarScanParameters scanDefinition, java.lang.String message)
           
 boolean equals(PolarLidarScanParameters polarLidarScanParameters)
           
 double getMaximumRange()
           
 double getMinimumRange()
           
 javax.vecmath.Point3d getPoint(float distance, int index)
           
 void getPoint(javax.vecmath.Point3d pointToPack, float distance, int index)
           
 javax.media.j3d.Transform3D getTransformToRay(int i)
           
 void getTransformToRay(int i, javax.media.j3d.Transform3D transformToPack)
           
 LIDARScanDefinition toLIDARScanDefinition()
           
 java.lang.String toString()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Field Detail

isTakenBySCS

public boolean isTakenBySCS

sweepYawMax

public float sweepYawMax

sweepYawMin

public float sweepYawMin

angleIncrement

public float angleIncrement

timeIncrement

public float timeIncrement

scanTime

public float scanTime

minRange

public float minRange

maxRange

public float maxRange

pointsPerSweep

public int pointsPerSweep

sweepsPerScan

public int sweepsPerScan

scanRollMax

public float scanRollMax

scanRollMin

public float scanRollMin
Constructor Detail

PolarLidarScanParameters

public PolarLidarScanParameters()

PolarLidarScanParameters

public PolarLidarScanParameters(boolean isTakenBySCS,
                                int pointsPerSweep,
                                int sweepsPerScan,
                                float sweepYawMax,
                                float sweepYawMin,
                                float angleIncrement,
                                float timeIncrement,
                                float scanTime,
                                float scanRollMax,
                                float scanRollMin,
                                float minRange,
                                float maxRange)
Method Detail

getPoint

public javax.vecmath.Point3d getPoint(float distance,
                                      int index)

getPoint

public void getPoint(javax.vecmath.Point3d pointToPack,
                     float distance,
                     int index)

toLIDARScanDefinition

public LIDARScanDefinition toLIDARScanDefinition()

getTransformToRay

public void getTransformToRay(int i,
                              javax.media.j3d.Transform3D transformToPack)

getTransformToRay

public javax.media.j3d.Transform3D getTransformToRay(int i)

getMinimumRange

public double getMinimumRange()

getMaximumRange

public double getMaximumRange()

equals

public boolean equals(PolarLidarScanParameters polarLidarScanParameters)

toString

public java.lang.String toString()
Overrides:
toString in class java.lang.Object

displayString

public static java.lang.String displayString(PolarLidarScanParameters scanDefinition,
                                             java.lang.String message)