.. _pilot.PointCloud2D:

pilot.PointCloud2D
==================

.. cpp:namespace:: pilot::PointCloud2D

Class
-----

`PointCloud2D` contains a cloud of 2D points, usually laser points. See also :ref:`pilot.LaserPointCloud`.

Inherits from :ref:`pilot.Sample`.


Fields
------

.. cpp:member:: string sensor

	Original sensor coordinate frame. (also name of sensor)
	
.. cpp:member:: sensor_2d_range_t field

	Field of view of the sensor, relative to its own coordinate system, see :ref:`pilot.sensor_2d_range_t`.
	
.. cpp:member:: Transform3D* base_to_odom
	
	Transformation from ``base_link`` to ``odom`` frame at the time of this scan.

.. cpp:member:: Transform3D* sensor_to_base

	Transformation from ``sensor`` to ``base_link`` frame.
	
.. cpp:member:: vector<Vector2d> points
	
	List of 2D (x, y) points [meters], in ``frame`` coordinates, see :ref:`pilot.Sample`.