slg_msgs

Overview

This package provides classes and messages to interact with laser related geometry, simple laser geometry.

simple_laser_geometry c++ API

• point2D.hpp: Faster 2D point class based on PCL but with unnecesary 3D functions.
• polygon.hpp: Definitions and functionality relating to polygons.
• segment2D.hpp: Definitions and functionality relating to segments of laserscan.

Messages (.msg)

• Segment: Describes a laserscan splitted in segment.
• SegmentArray: An array of Segment messages.