Exemple #1
0
 RawLaser::Point2DVector RawLaser::cartesian() const
 {
   Point2DVector points;
   for (size_t i = 0; i < _ranges.size(); ++i) {
     const double& r = _ranges[i];
     if (r < _laserParams.maxRange) {
       double alpha = _laserParams.firstBeamAngle + i * _laserParams.angularStep;
       points.push_back(Eigen::Vector2d(cos(alpha) * r, sin(alpha) * r));
     }
   }
   return points;
 }
Exemple #2
0
Point2DVector GeneratePoints()
{
  Point2DVector points;
  // Model y = 2*x + 5 with some noise
  for(unsigned int i = 0; i < 50; ++i)
    {
    float x = static_cast<float>(i);
    Eigen::Vector2d point;
    point(0) = x;
    point(1) = 2.0f * x + 5.0 + drand48()/10.0f;
    points.push_back(point);
    }

  return points;
}