[Rock-dev] New type to represent 3D range measurements

[Matthias Goldhoorn]

There is a difference again, the sonars give information for EACH 
possible value.
So the distance information is determined by the index of the array, the 
strenth is the value of the given index.
The LaserScanners in opposite are representing multiple echos, and on 
another vector the strength.
I also don't like the idea of handling sonars as LaserScans directly.
There are so much research done which tries to interprets sonars as 
laser-scans but i thing this is the wrong direction.
I completely understand that you want to reduce the amount of data types 
but this is not the best to start ;).

Best,
Matthias

On 20.08.2014 13:06, Jakob Schwendner wrote:
>  From this and the comment from Mathias, the difference to me is really that there are multiple measurements per ray. This btw. Is supported now by the new hokuyos as well. Adding it to the datatype is a pain though. I guess would have to be handled similar to the MLS. Maybe we could add this feature with a templated base class later (list of floats instead of float for the ray values).


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  Dipl.-Inf. Matthias Goldhoorn
  Space and Underwater Robotic

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