Class LidarScanSet

Class Documentation

class LidarScanSet

Container of lidar scans that allows storing collection-associated fields that cannot be referenced back to any individual lidar scan.

Internal resources are kept under shared pointers so copying the set returns a shallow copy. Use LidarScanSet::clone() if necessary.

Public Functions

LidarScanSet()

The default constructor creates an empty set.

LidarScanSet(const std::vector<std::shared_ptr<LidarScan>> &scans)

Initialize a LidarScanSet with a vector of lidar scans.

Parameters:

scans[in] – vector of lidar scan shared pointers.

LidarScanSet(std::vector<std::shared_ptr<LidarScan>> &&scans)

Initialize a LidarScanSet with a vector of lidar scans.

Parameters:

scans[in] – vector of lidar scan shared pointers to steal.

LidarScanSet(std::initializer_list<std::shared_ptr<LidarScan>> scans)

Initialize a LidarScanSet with an initializer list.

Parameters:

scans[in] – initializer list of lidar scan shared pointers.

std::vector<std::shared_ptr<LidarScan>>::iterator begin()
Returns:

iterator to the beginning of the lidar scans

std::vector<std::shared_ptr<LidarScan>>::iterator end()
Returns:

iterator past the end of the lidar scans

std::vector<std::shared_ptr<LidarScan>>::const_iterator begin() const
Returns:

const iterator to the beginning of the lidar scans

std::vector<std::shared_ptr<LidarScan>>::const_iterator end() const
Returns:

const iterator past the end of the lidar scans

inline ValidObjectIterator<LidarScan> valid_scans()
Returns:

an iterator over valid (non-null) lidar scans

inline ValidObjectConstIterator<LidarScan> valid_scans() const
Returns:

a const iterator over valid (non-null) lidar scans

inline ValidIndexIterator<LidarScan> valid_indices()
Returns:

an iterator that yields the indices of valid (non-null) lidar scans

inline ValidIndexConstIterator<LidarScan> valid_indices() const
Returns:

a const iterator that yields the indices of valid (non-null) lidar scans

const std::shared_ptr<LidarScan> &operator[](int index) const

Returns nth scan in the LidarScanSet.

Parameters:

index[in] – index of the scan to return

Returns:

shared ptr of scan at the given index

std::shared_ptr<LidarScan> &operator[](int index)

Returns nth scan in the LidarScanSet.

Parameters:

index[in] – index of the scan to return

Returns:

shared ptr of scan at the given index

size_t size() const

Returns number of lidar scans stored in the LidarScanSet.

Returns:

number of lidar scans

Field &add_field(const std::string &name, FieldDescriptor desc)

Add a new zero-filled field to LidarScanSet.

Throws:

std::invalid_argument – if key duplicates a preexisting field

Parameters:

  • name – [in] string key of the field to add

  • desc – [in] descriptor of the field to add

Returns:

field

Field del_field(const std::string &name)

Release the field and remove it from LidarScanSet.

Throws:

std::invalid_argument – if field under key does not exist

Parameters:

name – [in] string key of the field to remove

Returns:

field The deleted field.

bool has_field(const std::string &name) const

Check if a field exists.

Parameters:

name[in] – string key of the field to check

Returns:

true if the LidarScanSet has the field, else false

Field &field(const std::string &name)
Parameters:

name[in] – string key of the field to access

Returns:

Field reference of the requested field

const Field &field(const std::string &name) const
Parameters:

name[in] – string key of the field to access

Returns:

Field reference of the requested field

std::unordered_map<std::string, Field> &fields()

Reference to the internal fields map.

Returns:

The unordered map of field type and field.

const std::unordered_map<std::string, Field> &fields() const

Reference to the internal fields map.

Returns:

The unordered map of field type and field.

std::vector<std::shared_ptr<LidarScan>> &scans()

Reference to the internal vector of scans.

Returns:

The vector of shared pointers to lidar scans.

const std::vector<std::shared_ptr<LidarScan>> &scans() const

Reference to the internal vector of scans.

Returns:

The vector of shared pointers to lidar scans.

void swap(LidarScanSet &other) noexcept

Swaps two LidarScanSets.

Parameters:

other[in] – LidarScanSet to swap resources with

LidarScanSet clone() const

Get a deep copy of a LidarScanSet.

Returns:

deep copy