MRPT  1.9.9
List of all members | Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | Private Attributes
mrpt::hwdrivers::C2DRangeFinderAbstract Class Referenceabstract
[mrpt-hwdrivers]

Detailed Description

This is the base, abstract class for "software drivers" interfaces to 2D scanners (laser range finders).

Physical devices may be interfaced through a serial port, a USB connection,etc. but this class abstract those details throught the "binding" of the specific scanner driver to a given I/O channel, which must be set by calling "hwdrivers::C2DRangeFinderAbstract::bindIO". See also the derived classes.

There is support for "exclusion polygons", areas where points, if detected, should be marked as invalid. Those areas are useful in cases where the scanner always detects part of the vehicle itself, and those points want to be ignored (see C2DRangeFinderAbstract::loadExclusionAreas).

See also
comms::CSerialPort

Definition at line 40 of file C2DRangeFinderAbstract.h.

#include <mrpt/hwdrivers/C2DRangeFinderAbstract.h>

Inheritance diagram for mrpt::hwdrivers::C2DRangeFinderAbstract:

Public Types

enum  TSensorState { ssInitializing = 0, ssWorking, ssError }
 The current state of the sensor. More...
 
using Ptr = std::shared_ptr< CGenericSensor >
 
using TListObservations = std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr >
 
using TListObsPair = std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr >
 

Public Member Functions

 C2DRangeFinderAbstract ()
 Default constructor. More...
 
 ~C2DRangeFinderAbstract () override
 Destructor. More...
 
void showPreview (bool enable=true)
 Enables GUI visualization in real-time. More...
 
void bindIO (mrpt::io::CStream *streamIO)
 Binds the object to a given I/O channel. More...
 
void getObservation (bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError)
 Get the last observation from the sensor, if available, and unmarks it as being "the last one" (thus a new scan must arrive or subsequent calls will find no new observations). More...
 
void doProcess () override
 Main method for a CGenericSensor. More...
 
virtual void doProcessSimple (bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError)=0
 Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it. More...
 
virtual bool turnOn ()=0
 Enables the scanning mode (which may depend on the specific laser device); this must be called before asking for observations to assure that the protocol has been initializated. More...
 
virtual bool turnOff ()=0
 Disables the scanning mode (this can be used to turn the device in low energy mode, if available) More...
 
double getEstimatedScanPeriod () const
 Returns the empirical, filtered estimation for the period at which whole scans are being returned from calls to doProcessSimple() More...
 
virtual const mrpt::hwdrivers::TSensorClassId * GetRuntimeClass () const =0
 
TSensorState getState () const
 The current state of the sensor. More...
 
double getProcessRate () const
 
std::string getSensorLabel () const
 
void setSensorLabel (const std::string &sensorLabel)
 
void enableVerbose (bool enabled=true)
 Enable or disable extra debug info dumped to std::cout during sensor operation. More...
 
bool isVerboseEnabled () const
 
void loadConfig (const mrpt::config::CConfigFileBase &configSource, const std::string &section)
 Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific". More...
 
virtual void initialize ()
 This method can or cannot be implemented in the derived class, depending on the need for it. More...
 
void getObservations (TListObservations &lstObjects)
 Returns a list of enqueued objects, emptying it (thread-safe). More...
 
virtual void setPathForExternalImages (const std::string &directory)
 Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable). More...
 
void setExternalImageFormat (const std::string &ext)
 Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". More...
 
void setExternalImageJPEGQuality (const unsigned int quality)
 The quality of JPEG compression, when external images is enabled and the format is "jpg". More...
 
unsigned int getExternalImageJPEGQuality () const
 

Static Public Member Functions

static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & logging_levels_to_colors ()
 Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...
 
static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & logging_levels_to_names ()
 Map from VerbosityLevels to their corresponding names. More...
 
static void registerClass (const TSensorClassId *pNewClass)
 Register a class into the internal list of "CGenericSensor" descendents. More...
 
static CGenericSensor * createSensor (const std::string &className)
 Creates a sensor by a name of the class. More...
 
static CGenericSensor::Ptr createSensorPtr (const std::string &className)
 Just like createSensor, but returning a smart pointer to the newly created sensor object. More...
 

Protected Member Functions

void loadCommonParams (const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection)
 Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles). More...
 
void filterByExclusionAreas (mrpt::obs::CObservation2DRangeScan &obs) const
 Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons. More...
 
void filterByExclusionAngles (mrpt::obs::CObservation2DRangeScan &obs) const
 Mark as invalid those ranges in a set of forbiden angle ranges. More...
 
void processPreview (const mrpt::obs::CObservation2DRangeScan &obs)
 Must be called inside the capture method to allow optional GUI preview of scans. More...
 
void internal_notifyGoodScanNow ()
 Must be called from doProcessSimple() implementations. More...
 
bool internal_notifyNoScanReceived ()
 Must be called from doProcessSimple() implementations. More...
 
void appendObservations (const std::vector< mrpt::serialization::CSerializable::Ptr > &obj)
 This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations. More...
 
void appendObservation (const mrpt::serialization::CSerializable::Ptr &obj)
 Like appendObservations() but for just one observation. More...
 
virtual void loadConfig_sensorSpecific (const mrpt::config::CConfigFileBase &configSource, const std::string &section)=0
 Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see config::CConfigFileBase and derived classes) More...
 

Protected Attributes

mrpt::io::CStream * m_stream {nullptr}
 The I/O channel (will be nullptr if not bound). More...
 
VerbosityLevel m_min_verbosity_level {LVL_INFO}
 Provided messages with VerbosityLevel smaller than this value shall be ignored. More...
 
size_t m_grab_decimation_counter {0}
 Used when "m_grab_decimation" is enabled. More...
 
TSensorState m_state {ssInitializing}
 
bool m_verbose {false}
 
std::string m_path_for_external_images
 The path where to save off-rawlog images: empty means save images embedded in the rawlog. More...
 
std::string m_external_images_format
 The extension ("jpg","gif","png",...) that determines the format of images saved externally. More...
 
unsigned int m_external_images_jpeg_quality {95}
 For JPEG images, the quality (default=95%). More...
 
Common settings to any sensor, loaded in "loadConfig"
double m_process_rate {0}
 See CGenericSensor. More...
 
size_t m_max_queue_len {200}
 See CGenericSensor. More...
 
size_t m_grab_decimation {0}
 If set to N>=2, only 1 out of N observations will be saved to m_objList. More...
 
std::string m_sensorLabel
 See CGenericSensor. More...
 

Private Attributes

mrpt::obs::CObservation2DRangeScan m_lastObservation
 
bool m_lastObservationIsNew {false}
 
bool m_hardwareError {false}
 
std::mutex m_csChangeStream
 For being thread-safe. More...
 
std::mutex m_csLastObservation
 
mrpt::obs::CObservation2DRangeScan::Ptr m_nextObservation
 A dynamic object used as buffer in doProcess. More...
 
mrpt::obs::CObservation2DRangeScan::TListExclusionAreasWithRanges m_lstExclusionPolys
 A list of optional exclusion polygons, in coordinates relative to the vehicle, that is, taking into account the "sensorPose". More...
 
std::vector< std::pair< double, double > > m_lstExclusionAngles
 A list of pairs of angles <init,end> such as all sensor ranges falling in those forbiden angles will be marked as invalid. More...
 
bool m_showPreview {false}
 If true, shows a 3D window with a preview of the grabber data. More...
 
mrpt::gui::CDisplayWindow3D::Ptr m_win
 
mrpt::system::TTimeStamp m_last_good_scan {INVALID_TIMESTAMP}
 Used in internal_notifyGoodScanNow() More...
 
double m_estimated_scan_period {1.0}
 Updated in internal_notifyGoodScanNow() More...
 
int m_failure_waiting_scan_counter {0}
 Used in internal_notifyNoScanReceived() More...
 
int m_max_missed_scan_failures {10}
 

Logging methods

void logStr (const VerbosityLevel level, const std::string &msg_str) const
 Main method to add the specified message string to the logger. More...
 
void logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
 Alternative logging method, which mimics the printf behavior. More...
 
void void logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
 Log the given message only if the condition is satisfied. More...
 
void setLoggerName (const std::string &name)
 Set the name of the COutputLogger instance. More...
 
std::string getLoggerName () const
 Return the name of the COutputLogger instance. More...
 
void setMinLoggingLevel (const VerbosityLevel level)
 Set the minimum logging level for which the incoming logs are going to be taken into account. More...
 
void setVerbosityLevel (const VerbosityLevel level)
 alias of setMinLoggingLevel() More...
 
VerbosityLevel getMinLoggingLevel () const
 
bool isLoggingLevelVisible (VerbosityLevel level) const
 
void getLogAsString (std::string &log_contents) const
 Fill the provided string with the contents of the logger's history in std::string representation. More...
 
std::string getLogAsString () const
 Get the history of COutputLogger instance in a string representation. More...
 
void writeLogToFile (const std::string *fname_in=nullptr) const
 Write the contents of the COutputLogger instance to an external file. More...
 
void dumpLogToConsole () const
 Dump the current contents of the COutputLogger instance in the terminal window. More...
 
std::string getLoggerLastMsg () const
 Return the last Tmsg instance registered in the logger history. More...
 
void getLoggerLastMsg (std::string &msg_str) const
 Fill inputtted string with the contents of the last message in history. More...
 
void loggerReset ()
 Reset the contents of the logger instance. More...
 
void logRegisterCallback (output_logger_callback_t userFunc)
 
bool logDeregisterCallback (output_logger_callback_t userFunc)
 
bool logging_enable_console_output {true}
 [Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...
 
bool logging_enable_keep_record {false}
 [Default=false] Enables storing all messages into an internal list. More...
 

Member Typedef Documentation

◆ Ptr

using mrpt::hwdrivers::CGenericSensor::Ptr = std::shared_ptr<CGenericSensor>
inherited

Definition at line 72 of file CGenericSensor.h.

◆ TListObservations

using mrpt::hwdrivers::CGenericSensor::TListObservations = std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr>
inherited

Definition at line 76 of file CGenericSensor.h.

◆ TListObsPair

using mrpt::hwdrivers::CGenericSensor::TListObsPair = std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr>
inherited

Definition at line 78 of file CGenericSensor.h.

Member Enumeration Documentation

◆ TSensorState

enum mrpt::hwdrivers::CGenericSensor::TSensorState
inherited

The current state of the sensor.

See also
CGenericSensor::getState
Enumerator
ssInitializing 
ssWorking 
ssError 

Definition at line 83 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ C2DRangeFinderAbstract()

C2DRangeFinderAbstract::C2DRangeFinderAbstract ( )

Default constructor.

Definition at line 25 of file C2DRangeFinderAbstract.cpp.

◆ ~C2DRangeFinderAbstract()

C2DRangeFinderAbstract::~C2DRangeFinderAbstract ( )
overridedefault

Destructor.

Member Function Documentation

◆ appendObservation()

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::serialization::CSerializable::Ptr &  obj)
inlineprotectedinherited

Like appendObservations() but for just one observation.

Definition at line 178 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::appendObservations().

Referenced by mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), doProcess(), mrpt::hwdrivers::CCANBusReader::doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), and mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow().

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◆ appendObservations()

void CGenericSensor::appendObservations ( const std::vector< mrpt::serialization::CSerializable::Ptr > &  obj)
protectedinherited

This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations.

Passed objects must be created in dynamic memory and a smart pointer passed. Example of creation:

mrpt::obs::CObservationGPS::Ptr o = CObservationGPS::Ptr( new
CObservationGPS() );
o-> .... // Set data
appendObservation(o);

If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.

Definition at line 48 of file CGenericSensor.cpp.

References CLASS_ID, mrpt::hwdrivers::CGenericSensor::m_csObjList, mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_objList, and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), and mrpt::hwdrivers::CKinect::doProcess().

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◆ bindIO()

void C2DRangeFinderAbstract::bindIO ( mrpt::io::CStream *  streamIO)

Binds the object to a given I/O channel.

The stream object must not be deleted before the destruction of this class.

See also
comms::CSerialPort

Definition at line 37 of file C2DRangeFinderAbstract.cpp.

References m_csChangeStream, and m_stream.

Referenced by mrpt::hwdrivers::CHokuyoURG::ensureStreamIsOpen().

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◆ createSensor()

CGenericSensor * CGenericSensor::createSensor ( const std::string &  className)
staticinherited

Creates a sensor by a name of the class.

Typically the user may want to create a smart pointer around the returned pointer, whis is made with:

CGenericSensor::Ptr sensor = CGenericSensor::Ptr(
CGenericSensor::createSensor("XXX") );
Returns
A pointer to a new class, or nullptr if class name is unknown.

Definition at line 97 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

Referenced by mrpt::hwdrivers::CGenericSensor::createSensorPtr().

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◆ createSensorPtr()

static CGenericSensor::Ptr mrpt::hwdrivers::CGenericSensor::createSensorPtr ( const std::string &  className)
inlinestaticinherited

Just like createSensor, but returning a smart pointer to the newly created sensor object.

Definition at line 218 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::createSensor().

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◆ doProcess()

void C2DRangeFinderAbstract::doProcess ( )
overridevirtual

Main method for a CGenericSensor.

Implements mrpt::hwdrivers::CGenericSensor.

Reimplemented in mrpt::hwdrivers::CLMS100Eth, and mrpt::hwdrivers::CSICKTim561Eth.

Definition at line 64 of file C2DRangeFinderAbstract.cpp.

References mrpt::hwdrivers::CGenericSensor::appendObservation(), doProcessSimple(), m_nextObservation, mrpt::hwdrivers::CGenericSensor::m_state, MRPT_LOG_THROTTLE_ERROR, mrpt::hwdrivers::CGenericSensor::ssError, and mrpt::hwdrivers::CGenericSensor::ssWorking.

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◆ doProcessSimple()

virtual void mrpt::hwdrivers::C2DRangeFinderAbstract::doProcessSimple ( bool &  outThereIsObservation,
mrpt::obs::CObservation2DRangeScan &  outObservation,
bool &  hardwareError 
)
pure virtual

Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it.

This method MUST BE CALLED in a timely fashion by the user to allow the proccessing of incoming data. It can be run in a different thread safely.

Implemented in mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CSickLaserUSB, mrpt::hwdrivers::CLMS100Eth, mrpt::hwdrivers::CRoboPeakLidar, and mrpt::hwdrivers::CSICKTim561Eth.

Referenced by doProcess().

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◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const
inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also
writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ enableVerbose()

void mrpt::hwdrivers::CGenericSensor::enableVerbose ( bool  enabled = true)
inlineinherited

Enable or disable extra debug info dumped to std::cout during sensor operation.

Default: disabled unless the environment variable "MRPT_HWDRIVERS_VERBOSE" is set to "1" during object creation.

Definition at line 104 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_verbose.

◆ filterByExclusionAngles()

void C2DRangeFinderAbstract::filterByExclusionAngles ( mrpt::obs::CObservation2DRangeScan &  obs) const
protected

Mark as invalid those ranges in a set of forbiden angle ranges.

See also
loadExclusionAreas

Definition at line 205 of file C2DRangeFinderAbstract.cpp.

References mrpt::obs::CObservation2DRangeScan::filterByExclusionAngles(), and m_lstExclusionAngles.

Referenced by mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), and mrpt::hwdrivers::CHokuyoURG::doProcessSimple().

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◆ filterByExclusionAreas()

void C2DRangeFinderAbstract::filterByExclusionAreas ( mrpt::obs::CObservation2DRangeScan &  obs) const
protected

Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons.

See also
loadExclusionAreas

Definition at line 196 of file C2DRangeFinderAbstract.cpp.

References mrpt::obs::CObservation2DRangeScan::filterByExclusionAreas(), and m_lstExclusionPolys.

Referenced by mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), and mrpt::hwdrivers::CHokuyoURG::doProcessSimple().

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◆ getEstimatedScanPeriod()

double mrpt::hwdrivers::C2DRangeFinderAbstract::getEstimatedScanPeriod ( ) const
inline

Returns the empirical, filtered estimation for the period at which whole scans are being returned from calls to doProcessSimple()

Note
: Units: seconds

Definition at line 163 of file C2DRangeFinderAbstract.h.

References m_estimated_scan_period.

◆ getExternalImageJPEGQuality()

unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const
inlineinherited

Definition at line 288 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.

◆ getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string &  log_contents) const
inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const
inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

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◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const
inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

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◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string &  msg_str) const
inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const
inherited

Return the name of the COutputLogger instance.

See also
setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const
inlineinherited
See also
setMinLoggingLevel

Definition at line 200 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

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◆ getObservation()

void C2DRangeFinderAbstract::getObservation ( bool &  outThereIsObservation,
mrpt::obs::CObservation2DRangeScan &  outObservation,
bool &  hardwareError 
)

Get the last observation from the sensor, if available, and unmarks it as being "the last one" (thus a new scan must arrive or subsequent calls will find no new observations).

Definition at line 47 of file C2DRangeFinderAbstract.cpp.

References m_csLastObservation, m_hardwareError, m_lastObservation, and m_lastObservationIsNew.

◆ getObservations()

void CGenericSensor::getObservations ( TListObservations &  lstObjects)
inherited

Returns a list of enqueued objects, emptying it (thread-safe).

The objects must be freed by the invoker.

Definition at line 85 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::m_csObjList, and mrpt::hwdrivers::CGenericSensor::m_objList.

Referenced by TEST().

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◆ getProcessRate()

double mrpt::hwdrivers::CGenericSensor::getProcessRate ( ) const
inlineinherited

Definition at line 92 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_process_rate.

◆ GetRuntimeClass()

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const
pure virtualinherited

◆ getSensorLabel()

std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const
inlineinherited

Definition at line 93 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

◆ getState()

TSensorState mrpt::hwdrivers::CGenericSensor::getState ( ) const
inlineinherited

The current state of the sensor.

Definition at line 91 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_state.

◆ initialize()

virtual void mrpt::hwdrivers::CGenericSensor::initialize ( )
inlinevirtualinherited

This method can or cannot be implemented in the derived class, depending on the need for it.

Exceptions
Thismethod must throw an exception with a descriptive message if some critical error is found.

Reimplemented in mrpt::hwdrivers::CVelodyneScanner, mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::COpenNI2_RGBD360, mrpt::hwdrivers::CNationalInstrumentsDAQ, mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CCANBusReader, mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CBoardENoses, mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors, mrpt::hwdrivers::CSkeletonTracker, mrpt::hwdrivers::CLMS100Eth, mrpt::hwdrivers::CSwissRanger3DCamera, mrpt::hwdrivers::CGyroKVHDSP3000, mrpt::hwdrivers::CIMUIntersense, mrpt::hwdrivers::CNTRIPEmitter, mrpt::hwdrivers::CIMUXSens, mrpt::hwdrivers::CIMUXSens_MT4, mrpt::hwdrivers::CGPS_NTRIP, mrpt::hwdrivers::CImpinjRFID, mrpt::hwdrivers::CSICKTim561Eth, mrpt::hwdrivers::CIbeoLuxETH, and mrpt::hwdrivers::CRoboPeakLidar.

Definition at line 247 of file CGenericSensor.h.

Referenced by TEST().

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◆ internal_notifyGoodScanNow()

void C2DRangeFinderAbstract::internal_notifyGoodScanNow ( )
protected

Must be called from doProcessSimple() implementations.

Definition at line 89 of file C2DRangeFinderAbstract.cpp.

References INVALID_TIMESTAMP, m_estimated_scan_period, m_failure_waiting_scan_counter, m_last_good_scan, mrpt::system::now(), and mrpt::system::timeDifference().

Referenced by mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), and mrpt::hwdrivers::CHokuyoURG::doProcessSimple().

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◆ internal_notifyNoScanReceived()

bool C2DRangeFinderAbstract::internal_notifyNoScanReceived ( )
protected

Must be called from doProcessSimple() implementations.

Returns true if ok, false if this seems strange and should return an error condition to the user.

Definition at line 104 of file C2DRangeFinderAbstract.cpp.

References m_estimated_scan_period, m_failure_waiting_scan_counter, m_last_good_scan, m_max_missed_scan_failures, mrpt::system::now(), and mrpt::system::timeDifference().

Referenced by mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), and mrpt::hwdrivers::CHokuyoURG::doProcessSimple().

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◆ isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel  level) const
inlineinherited

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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◆ isVerboseEnabled()

bool mrpt::hwdrivers::CGenericSensor::isVerboseEnabled ( ) const
inlineinherited

Definition at line 105 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_verbose.

◆ loadCommonParams()

void C2DRangeFinderAbstract::loadCommonParams ( const mrpt::config::CConfigFileBase &  configSource,
const std::string &  iniSection 
)
protected

Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles).

This loads a sequence of vertices of a polygon given by its (x,y) coordinates relative to the vehicle, that is, taking into account the "sensorPose".

  • exclusionZoneu_x
  • exclusionZoneu_y for u=1,2,3,... All points within the 2D polygon will be ignored, for any Z, unless an optional entry is found:
  • exclusionZoneu_z=[z_min z_max] In that case, only the points within the 2D polygon AND the given range in Z will be ignored.

The number of zones is variable, but they must start at 1 and be consecutive.

This also loads any other common params (e.g. 'preview')

See also
filterByExclusionAreas

Definition at line 119 of file C2DRangeFinderAbstract.cpp.

References ASSERT_, ASSERTMSG_, mrpt::DEG2RAD(), mrpt::format(), m_lstExclusionAngles, m_lstExclusionPolys, m_max_missed_scan_failures, M_PI, m_showPreview, mrpt::config::CConfigFileBase::read_bool(), mrpt::config::CConfigFileBase::read_double(), mrpt::config::CConfigFileBase::read_int(), and mrpt::config::CConfigFileBase::read_vector().

Referenced by mrpt::hwdrivers::CSickLaserUSB::loadConfig_sensorSpecific(), mrpt::hwdrivers::CRoboPeakLidar::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSickLaserSerial::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CHokuyoURG::loadConfig_sensorSpecific().

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◆ loadConfig()

void CGenericSensor::loadConfig ( const mrpt::config::CConfigFileBase &  cfg,
const std::string &  sect 
)
inherited

Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".

Exceptions
Thismethod throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

Definition at line 126 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_max_queue_len, mrpt::hwdrivers::CGenericSensor::m_process_rate, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, MRPT_END, MRPT_START, mrpt::config::CConfigFileBase::read_double(), mrpt::config::CConfigFileBase::read_int(), and mrpt::config::CConfigFileBase::read_string().

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◆ loadConfig_sensorSpecific()

virtual void mrpt::hwdrivers::CGenericSensor::loadConfig_sensorSpecific ( const mrpt::config::CConfigFileBase &  configSource,
const std::string &  section 
)
protectedpure virtualinherited

Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see config::CConfigFileBase and derived classes)

Exceptions
Thismethod must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value.

Implemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::CNationalInstrumentsDAQ, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::COpenNI2_RGBD360, mrpt::hwdrivers::CGPSInterface, mrpt::hwdrivers::CVelodyneScanner, mrpt::hwdrivers::CSwissRanger3DCamera, mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors, mrpt::hwdrivers::CLMS100Eth, mrpt::hwdrivers::CBoardSonars, mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CCANBusReader, mrpt::hwdrivers::CSICKTim561Eth, mrpt::hwdrivers::CIbeoLuxETH, mrpt::hwdrivers::CRoboPeakLidar, mrpt::hwdrivers::CGyroKVHDSP3000, mrpt::hwdrivers::CSkeletonTracker, mrpt::hwdrivers::CIMUIntersense, mrpt::hwdrivers::CGPS_NTRIP, mrpt::hwdrivers::CBoardENoses, mrpt::hwdrivers::CEnoseModular, mrpt::hwdrivers::CImpinjRFID, mrpt::hwdrivers::CNTRIPEmitter, mrpt::hwdrivers::CSickLaserUSB, mrpt::hwdrivers::CIMUXSens, mrpt::hwdrivers::CIMUXSens_MT4, mrpt::hwdrivers::CRaePID, mrpt::hwdrivers::CGillAnemometer, and mrpt::hwdrivers::CWirelessPower.

Referenced by mrpt::hwdrivers::CGenericSensor::loadConfig().

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◆ logCond()

void COutputLogger::logCond ( const VerbosityLevel  level,
bool  cond,
const std::string &  msg_str 
) const
inherited

Log the given message only if the condition is satisfied.

See also
log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t  userFunc)
inherited
Returns
true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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◆ logFmt()

void COutputLogger::logFmt ( const VerbosityLevel  level,
const char *  fmt,
  ... 
) const
inherited

Alternative logging method, which mimics the printf behavior.

Handy for not having to first use mrpt::format to pass a std::string message to logStr

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));
// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);
See also
logStr, logCond

Definition at line 91 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

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◆ loggerReset()

void COutputLogger::loggerReset ( )
inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )
staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

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◆ logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )
staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

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◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc)
inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

◆ logStr()

void COutputLogger::logStr ( const VerbosityLevel  level,
const std::string &  msg_str 
) const
inherited

Main method to add the specified message string to the logger.

See also
logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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◆ processPreview()

void C2DRangeFinderAbstract::processPreview ( const mrpt::obs::CObservation2DRangeScan &  obs)
protected

Must be called inside the capture method to allow optional GUI preview of scans.

Definition at line 211 of file C2DRangeFinderAbstract.cpp.

References mrpt::gui::CDisplayWindow3D::Create(), mrpt::hwdrivers::CGenericSensor::m_sensorLabel, m_showPreview, and m_win.

Referenced by mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), and mrpt::hwdrivers::CHokuyoURG::doProcessSimple().

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◆ registerClass()

void CGenericSensor::registerClass ( const TSensorClassId *  pNewClass)
staticinherited

Register a class into the internal list of "CGenericSensor" descendents.

Used internally in the macros DEFINE_GENERIC_SENSOR, etc...

Can be used as "CGenericSensor::registerClass( SENSOR_CLASS_ID(CMySensor) );" if building custom sensors outside mrpt libraries in user code.

Definition at line 115 of file CGenericSensor.cpp.

References mrpt::hwdrivers::TSensorClassId::className, and mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

Referenced by mrpt::hwdrivers::CGenericSensor::CLASSINIT_GENERIC_SENSOR::CLASSINIT_GENERIC_SENSOR().

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◆ setExternalImageFormat()

void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat ( const std::string &  ext)
inlineinherited

Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".

See also
setPathForExternalImages, setExternalImageJPEGQuality

Definition at line 277 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_format.

◆ setExternalImageJPEGQuality()

void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality ( const unsigned int  quality)
inlineinherited

The quality of JPEG compression, when external images is enabled and the format is "jpg".

See also
setExternalImageFormat

Definition at line 284 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.

◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string &  name)
inherited

Set the name of the COutputLogger instance.

See also
getLoggerName

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), and mrpt::graphslam::CWindowManager::initCWindowManager().

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◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel  level)
inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), mrpt::hwdrivers::CHokuyoURG::initialize(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

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◆ setPathForExternalImages()

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( const std::string &  directory)
inlinevirtualinherited

Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable).

An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.

Exceptions
std::exceptionIf the directory doesn't exists and cannot be created.

Reimplemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::COpenNI2_RGBD360, and mrpt::hwdrivers::CSwissRanger3DCamera.

Definition at line 266 of file CGenericSensor.h.

References MRPT_UNUSED_PARAM.

◆ setSensorLabel()

void mrpt::hwdrivers::CGenericSensor::setSensorLabel ( const std::string &  sensorLabel)
inlineinherited

Definition at line 94 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level)
inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::math::ransac_detect_2D_lines().

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◆ showPreview()

void mrpt::hwdrivers::C2DRangeFinderAbstract::showPreview ( bool  enable = true)
inline

Enables GUI visualization in real-time.

Definition at line 117 of file C2DRangeFinderAbstract.h.

References m_showPreview.

◆ turnOff()

virtual bool mrpt::hwdrivers::C2DRangeFinderAbstract::turnOff ( )
pure virtual

Disables the scanning mode (this can be used to turn the device in low energy mode, if available)

Returns
If everything works "true", or "false" if there is any error.

Implemented in mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CSickLaserUSB, mrpt::hwdrivers::CLMS100Eth, mrpt::hwdrivers::CRoboPeakLidar, and mrpt::hwdrivers::CSICKTim561Eth.

◆ turnOn()

virtual bool mrpt::hwdrivers::C2DRangeFinderAbstract::turnOn ( )
pure virtual

Enables the scanning mode (which may depend on the specific laser device); this must be called before asking for observations to assure that the protocol has been initializated.

Returns
If everything works "true", or "false" if there is any error.

Implemented in mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CSickLaserUSB, mrpt::hwdrivers::CLMS100Eth, mrpt::hwdrivers::CRoboPeakLidar, and mrpt::hwdrivers::CSICKTim561Eth.

◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string *  fname_in = nullptr) const
inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also
dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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Member Data Documentation

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}
inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 239 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}
inherited

[Default=false] Enables storing all messages into an internal list.

See also
writeLogToFile, getLogAsString

Definition at line 242 of file system/COutputLogger.h.

◆ m_csChangeStream

std::mutex mrpt::hwdrivers::C2DRangeFinderAbstract::m_csChangeStream
private

For being thread-safe.

Definition at line 50 of file C2DRangeFinderAbstract.h.

Referenced by bindIO().

◆ m_csLastObservation

std::mutex mrpt::hwdrivers::C2DRangeFinderAbstract::m_csLastObservation
private

Definition at line 50 of file C2DRangeFinderAbstract.h.

Referenced by getObservation().

◆ m_estimated_scan_period

double mrpt::hwdrivers::C2DRangeFinderAbstract::m_estimated_scan_period {1.0}
private

Updated in internal_notifyGoodScanNow()

Definition at line 178 of file C2DRangeFinderAbstract.h.

Referenced by getEstimatedScanPeriod(), internal_notifyGoodScanNow(), and internal_notifyNoScanReceived().

◆ m_external_images_format

std::string mrpt::hwdrivers::CGenericSensor::m_external_images_format
protectedinherited

The extension ("jpg","gif","png",...) that determines the format of images saved externally.

See also
setPathForExternalImages

Definition at line 156 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageFormat().

◆ m_external_images_jpeg_quality

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality {95}
protectedinherited

For JPEG images, the quality (default=95%).

Definition at line 158 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality().

◆ m_failure_waiting_scan_counter

int mrpt::hwdrivers::C2DRangeFinderAbstract::m_failure_waiting_scan_counter {0}
private

Used in internal_notifyNoScanReceived()

Definition at line 180 of file C2DRangeFinderAbstract.h.

Referenced by internal_notifyGoodScanNow(), and internal_notifyNoScanReceived().

◆ m_grab_decimation

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation {0}
protectedinherited

If set to N>=2, only 1 out of N observations will be saved to m_objList.

Definition at line 137 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_grab_decimation_counter

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter {0}
protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 144 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_hardwareError

bool mrpt::hwdrivers::C2DRangeFinderAbstract::m_hardwareError {false}
private

Definition at line 46 of file C2DRangeFinderAbstract.h.

Referenced by getObservation().

◆ m_last_good_scan

mrpt::system::TTimeStamp mrpt::hwdrivers::C2DRangeFinderAbstract::m_last_good_scan {INVALID_TIMESTAMP}
private

Used in internal_notifyGoodScanNow()

Definition at line 176 of file C2DRangeFinderAbstract.h.

Referenced by internal_notifyGoodScanNow(), and internal_notifyNoScanReceived().

◆ m_lastObservation

mrpt::obs::CObservation2DRangeScan mrpt::hwdrivers::C2DRangeFinderAbstract::m_lastObservation
private

Definition at line 44 of file C2DRangeFinderAbstract.h.

Referenced by getObservation().

◆ m_lastObservationIsNew

bool mrpt::hwdrivers::C2DRangeFinderAbstract::m_lastObservationIsNew {false}
private

Definition at line 45 of file C2DRangeFinderAbstract.h.

Referenced by getObservation().

◆ m_lstExclusionAngles

std::vector<std::pair<double, double> > mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionAngles
private

A list of pairs of angles <init,end> such as all sensor ranges falling in those forbiden angles will be marked as invalid.

Definition at line 61 of file C2DRangeFinderAbstract.h.

Referenced by filterByExclusionAngles(), and loadCommonParams().

◆ m_lstExclusionPolys

mrpt::obs::CObservation2DRangeScan::TListExclusionAreasWithRanges mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionPolys
private

A list of optional exclusion polygons, in coordinates relative to the vehicle, that is, taking into account the "sensorPose".

Definition at line 58 of file C2DRangeFinderAbstract.h.

Referenced by filterByExclusionAreas(), and loadCommonParams().

◆ m_max_missed_scan_failures

int mrpt::hwdrivers::C2DRangeFinderAbstract::m_max_missed_scan_failures {10}
private

Definition at line 180 of file C2DRangeFinderAbstract.h.

Referenced by internal_notifyNoScanReceived(), and loadCommonParams().

◆ m_max_queue_len

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len {200}
protectedinherited

See CGenericSensor.

Definition at line 134 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}
protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 252 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

◆ m_nextObservation

mrpt::obs::CObservation2DRangeScan::Ptr mrpt::hwdrivers::C2DRangeFinderAbstract::m_nextObservation
private

A dynamic object used as buffer in doProcess.

Definition at line 53 of file C2DRangeFinderAbstract.h.

Referenced by doProcess().

◆ m_path_for_external_images

std::string mrpt::hwdrivers::CGenericSensor::m_path_for_external_images
protectedinherited

The path where to save off-rawlog images: empty means save images embedded in the rawlog.

Definition at line 153 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::setPathForExternalImages().

◆ m_process_rate

double mrpt::hwdrivers::CGenericSensor::m_process_rate {0}
protectedinherited

See CGenericSensor.

Definition at line 132 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getProcessRate(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_sensorLabel

std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel
protectedinherited

See CGenericSensor.

Definition at line 139 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CCANBusReader::CCANBusReader(), mrpt::hwdrivers::CGPSInterface::CGPSInterface(), mrpt::hwdrivers::CGyroKVHDSP3000::CGyroKVHDSP3000(), mrpt::hwdrivers::CHokuyoURG::CHokuyoURG(), mrpt::hwdrivers::CIMUXSens::CIMUXSens(), mrpt::hwdrivers::CIMUXSens_MT4::CIMUXSens_MT4(), mrpt::hwdrivers::CKinect::CKinect(), mrpt::hwdrivers::CNationalInstrumentsDAQ::CNationalInstrumentsDAQ(), mrpt::hwdrivers::CRoboPeakLidar::CRoboPeakLidar(), mrpt::hwdrivers::CSickLaserSerial::CSickLaserSerial(), mrpt::hwdrivers::CSickLaserUSB::CSickLaserUSB(), mrpt::hwdrivers::CSkeletonTracker::CSkeletonTracker(), mrpt::hwdrivers::CSwissRanger3DCamera::CSwissRanger3DCamera(), mrpt::hwdrivers::CVelodyneScanner::CVelodyneScanner(), mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::CGenericSensor::getSensorLabel(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::hwdrivers::CGenericSensor::loadConfig(), mrpt::hwdrivers::CSkeletonTracker::processPreview(), processPreview(), mrpt::hwdrivers::CSkeletonTracker::processPreviewNone(), and mrpt::hwdrivers::CGenericSensor::setSensorLabel().

◆ m_showPreview

bool mrpt::hwdrivers::C2DRangeFinderAbstract::m_showPreview {false}
private

If true, shows a 3D window with a preview of the grabber data.

Definition at line 64 of file C2DRangeFinderAbstract.h.

Referenced by loadCommonParams(), processPreview(), and showPreview().

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state {ssInitializing}
protectedinherited

Definition at line 146 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGyroKVHDSP3000::CGyroKVHDSP3000(), mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), mrpt::hwdrivers::CKinect::doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::CGenericSensor::getState(), mrpt::hwdrivers::CIMUXSens_MT4::initialize(), mrpt::hwdrivers::CIMUXSens::initialize(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), mrpt::hwdrivers::CSkeletonTracker::initialize(), mrpt::hwdrivers::CVelodyneScanner::initialize(), mrpt::hwdrivers::CNationalInstrumentsDAQ::readFromDAQ(), and mrpt::hwdrivers::CIMUXSens::searchPortAndConnect().

◆ m_stream

mrpt::io::CStream* mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream {nullptr}
protected

The I/O channel (will be nullptr if not bound).

Definition at line 69 of file C2DRangeFinderAbstract.h.

Referenced by mrpt::hwdrivers::CHokuyoURG::assureBufferHasBytes(), bindIO(), mrpt::hwdrivers::CHokuyoURG::closeStreamConnection(), mrpt::hwdrivers::CHokuyoURG::ensureStreamIsOpen(), mrpt::hwdrivers::CSickLaserSerial::LMS_endContinuousMode(), mrpt::hwdrivers::CSickLaserSerial::LMS_sendMeasuringMode_cm_mm(), mrpt::hwdrivers::CSickLaserSerial::LMS_setupBaudrate(), mrpt::hwdrivers::CSickLaserSerial::LMS_setupSerialComms(), mrpt::hwdrivers::CSickLaserSerial::LMS_startContinuousMode(), mrpt::hwdrivers::CSickLaserSerial::LMS_statusQuery(), mrpt::hwdrivers::CSickLaserSerial::LMS_waitACK(), mrpt::hwdrivers::CSickLaserSerial::LMS_waitIncomingFrame(), mrpt::hwdrivers::CHokuyoURG::purgeBuffers(), mrpt::hwdrivers::CHokuyoURG::sendCmd(), mrpt::hwdrivers::CSickLaserSerial::SendCommandToSICK(), mrpt::hwdrivers::CSickLaserSerial::tryToOpenComms(), mrpt::hwdrivers::CHokuyoURG::turnOn(), mrpt::hwdrivers::CSickLaserSerial::waitContinuousSampleFrame(), and mrpt::hwdrivers::CSickLaserSerial::~CSickLaserSerial().

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose {false}
protectedinherited

Definition at line 147 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::CGenericSensor(), mrpt::hwdrivers::CRoboPeakLidar::checkCOMMs(), mrpt::hwdrivers::CNTRIPEmitter::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CGenericSensor::enableVerbose(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::hwdrivers::CIMUXSens_MT4::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::hwdrivers::CVelodyneScanner::internal_read_PCAP_packet(), mrpt::hwdrivers::CGenericSensor::isVerboseEnabled(), mrpt::hwdrivers::CGPSInterface::JAVAD_sendMessage(), mrpt::hwdrivers::CGPSInterface::legacy_topcon_setup_commands(), mrpt::hwdrivers::CSickLaserSerial::LMS_setupBaudrate(), mrpt::hwdrivers::CSickLaserSerial::LMS_setupSerialComms(), mrpt::hwdrivers::CSickLaserSerial::LMS_waitIncomingFrame(), mrpt::hwdrivers::CGPSInterface::OnConnectionEstablished(), mrpt::hwdrivers::CGPSInterface::OnConnectionShutdown(), mrpt::hwdrivers::CSickLaserSerial::SendCommandToSICK(), mrpt::hwdrivers::CNationalInstrumentsDAQ::stop(), and mrpt::hwdrivers::CGPSInterface::tryToOpenTheCOM().

◆ m_win

mrpt::gui::CDisplayWindow3D::Ptr mrpt::hwdrivers::C2DRangeFinderAbstract::m_win
private

Definition at line 65 of file C2DRangeFinderAbstract.h.

Referenced by processPreview().



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