MRPT  1.9.9
List of all members | Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes
mrpt::hwdrivers::CRoboPeakLidar Class Referenceabstract

Detailed Description

Interfaces a Robo Peak LIDAR laser scanner.

See the example "samples/RoboPeakLidar_laser_test" and the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner.

PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
[supplied_section_name]
COM_port_WIN = COM3
COM_port_LIN = ttyS0
pose_x=0 // Laser range scaner 3D position in the robot (meters)
pose_y=0
pose_z=0
pose_yaw=0 // Angles in degrees
pose_pitch=0
pose_roll=0
//preview = true // Enable GUI visualization of captured data
// Optional: Exclusion zones to avoid the robot seeing itself:
//exclusionZone1_x = 0.20 0.30 0.30 0.20
//exclusionZone1_y = 0.20 0.30 0.30 0.20
// Optional: Exclusion zones to avoid the robot seeing itself:
//exclusionAngles1_ini = 20 // Deg
//exclusionAngles1_end = 25 // Deg
Note
Class introduced in MRPT 1.2.2

Definition at line 50 of file CRoboPeakLidar.h.

#include <mrpt/hwdrivers/CRoboPeakLidar.h>

Inheritance diagram for mrpt::hwdrivers::CRoboPeakLidar:

Public Types

enum  TSensorState { ssInitializing = 0, ssWorking, ssError, ssUninitialized }
 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

 CRoboPeakLidar ()
 Constructor. More...
 
 ~CRoboPeakLidar () override
 Destructor: turns the laser off. More...
 
void initialize () override
 Attempts to connect and turns the laser on. More...
 
void doProcessSimple (bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError) override
 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...
 
void setSerialPort (const std::string &port_name)
 If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser. More...
 
const std::string getSerialPort ()
 Returns the currently set serial port. More...
 
bool turnOn () override
 See base class docs. More...
 
bool turnOff () override
 See base class docs. More...
 
bool getDeviceHealth () const
 Returns true if the device is connected & operative. More...
 
void disconnect ()
 Closes the comms with the laser. More...
 
void showPreview (bool enable=true)
 Enables GUI visualization in real-time. More...
 
void bindIO (const std::shared_ptr< 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...
 
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::TSensorClassIdGetRuntimeClass () 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...
 
void getObservations (TListObservations &lstObjects)
 Returns a list of enqueued objects, emptying it (thread-safe). More...
 
virtual void setPathForExternalImages ([[maybe_unused]] 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 CGenericSensorcreateSensor (const std::string &className)
 Creates a sensor by a name of the class. More...
 
static Ptr createSensorPtr (const std::string &className)
 Just like createSensor, but returning a smart pointer to the newly created sensor object. More...
 

Protected Member Functions

bool checkCOMMs ()
 Returns true if communication has been established with the device. More...
 
void loadConfig_sensorSpecific (const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection) override
 See the class documentation at the top for expected parameters. More...
 
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...
 

Protected Attributes

poses::CPose3D m_sensorPose
 The sensor 6D pose: More...
 
std::string m_com_port
 
int m_com_port_baudrate {115200}
 
void * m_rplidar_drv {nullptr}
 
std::shared_ptr< mrpt::io::CStreamm_stream
 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...
 

Logging methods

void logStr (const VerbosityLevel level, std::string_view 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

Definition at line 73 of file CGenericSensor.h.

◆ TListObservations

Definition at line 77 of file CGenericSensor.h.

◆ TListObsPair

Definition at line 79 of file CGenericSensor.h.

Member Enumeration Documentation

◆ TSensorState

The current state of the sensor.

See also
CGenericSensor::getState
Enumerator
ssInitializing 
ssWorking 
ssError 
ssUninitialized 

Definition at line 84 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ CRoboPeakLidar()

CRoboPeakLidar::CRoboPeakLidar ( )

Constructor.

Definition at line 34 of file CRoboPeakLidar.cpp.

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

◆ ~CRoboPeakLidar()

CRoboPeakLidar::~CRoboPeakLidar ( )
override

Destructor: turns the laser off.

Definition at line 38 of file CRoboPeakLidar.cpp.

References disconnect(), and turnOff().

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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 180 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(), mrpt::hwdrivers::C2DRangeFinderAbstract::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

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 ( const std::shared_ptr< mrpt::io::CStream > &  streamIO)
inherited

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 35 of file C2DRangeFinderAbstract.cpp.

References mrpt::hwdrivers::C2DRangeFinderAbstract::m_csChangeStream, and mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream.

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

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◆ checkCOMMs()

bool CRoboPeakLidar::checkCOMMs ( )
protected

Returns true if communication has been established with the device.

If it's not, try to create a comms channel.

Returns
false on error.

Definition at line 259 of file CRoboPeakLidar.cpp.

References ASSERTMSG_, mrpt::system::os::fprintf(), getDeviceHealth(), m_com_port, m_com_port_baudrate, m_rplidar_drv, mrpt::hwdrivers::CGenericSensor::m_verbose, MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by doProcessSimple(), initialize(), and turnOn().

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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:

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 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 210 of file CGenericSensor.h.

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

Referenced by mrpt::apps::RawlogGrabberApp::SensorThread().

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◆ disconnect()

void CRoboPeakLidar::disconnect ( )

Closes the comms with the laser.

Shouldn't have to be directly needed by the user

Definition at line 44 of file CRoboPeakLidar.cpp.

References m_rplidar_drv.

Referenced by doProcessSimple(), and ~CRoboPeakLidar().

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◆ doProcess()

void C2DRangeFinderAbstract::doProcess ( )
overridevirtualinherited

◆ doProcessSimple()

void CRoboPeakLidar::doProcessSimple ( bool &  outThereIsObservation,
mrpt::obs::CObservation2DRangeScan outObservation,
bool &  hardwareError 
)
overridevirtual

◆ 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 106 of file CGenericSensor.h.

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

◆ filterByExclusionAngles()

void C2DRangeFinderAbstract::filterByExclusionAngles ( mrpt::obs::CObservation2DRangeScan obs) const
protectedinherited

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 mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionAngles.

Referenced by 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
protectedinherited

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 mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionPolys.

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

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◆ getDeviceHealth()

bool CRoboPeakLidar::getDeviceHealth ( ) const

Returns true if the device is connected & operative.

Definition at line 220 of file CRoboPeakLidar.cpp.

References mrpt::system::os::fprintf(), and THROW_EXCEPTION.

Referenced by checkCOMMs().

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◆ getEstimatedScanPeriod()

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

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 mrpt::hwdrivers::C2DRangeFinderAbstract::m_estimated_scan_period.

◆ getExternalImageJPEGQuality()

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

◆ 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

◆ getObservation()

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

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 45 of file C2DRangeFinderAbstract.cpp.

References mrpt::hwdrivers::C2DRangeFinderAbstract::m_csLastObservation, mrpt::hwdrivers::C2DRangeFinderAbstract::m_hardwareError, mrpt::hwdrivers::C2DRangeFinderAbstract::m_lastObservation, and mrpt::hwdrivers::C2DRangeFinderAbstract::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 94 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 95 of file CGenericSensor.h.

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

◆ getSerialPort()

const std::string mrpt::hwdrivers::CRoboPeakLidar::getSerialPort ( )
inline

Returns the currently set serial port.

See also
setSerialPort

Definition at line 74 of file CRoboPeakLidar.h.

References m_com_port.

◆ getState()

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

The current state of the sensor.

Definition at line 93 of file CGenericSensor.h.

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

◆ initialize()

void CRoboPeakLidar::initialize ( )
overridevirtual

Attempts to connect and turns the laser on.

Raises an exception on error.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 338 of file CRoboPeakLidar.cpp.

References checkCOMMs(), and turnOn().

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◆ internal_notifyGoodScanNow()

void C2DRangeFinderAbstract::internal_notifyGoodScanNow ( )
protectedinherited

Must be called from doProcessSimple() implementations.

Definition at line 87 of file C2DRangeFinderAbstract.cpp.

References INVALID_TIMESTAMP, mrpt::hwdrivers::C2DRangeFinderAbstract::m_estimated_scan_period, mrpt::hwdrivers::C2DRangeFinderAbstract::m_failure_waiting_scan_counter, mrpt::hwdrivers::C2DRangeFinderAbstract::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 ( )
protectedinherited

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 102 of file C2DRangeFinderAbstract.cpp.

References INVALID_TIMESTAMP, mrpt::hwdrivers::C2DRangeFinderAbstract::m_estimated_scan_period, mrpt::hwdrivers::C2DRangeFinderAbstract::m_failure_waiting_scan_counter, mrpt::hwdrivers::C2DRangeFinderAbstract::m_last_good_scan, mrpt::hwdrivers::C2DRangeFinderAbstract::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 202 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 107 of file CGenericSensor.h.

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

◆ loadCommonParams()

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

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::containers::end(), mrpt::format(), mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionAngles, mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionPolys, mrpt::hwdrivers::C2DRangeFinderAbstract::m_max_missed_scan_failures, M_PI, mrpt::hwdrivers::C2DRangeFinderAbstract::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(), 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(), mrpt::config::CConfigFileBase::read_string(), and sect.

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◆ loadConfig_sensorSpecific()

void CRoboPeakLidar::loadConfig_sensorSpecific ( const mrpt::config::CConfigFileBase configSource,
const std::string &  iniSection 
)
overrideprotectedvirtual

See the class documentation at the top for expected parameters.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 164 of file CRoboPeakLidar.cpp.

References mrpt::DEG2RAD(), mrpt::hwdrivers::C2DRangeFinderAbstract::loadCommonParams(), m_com_port, m_sensorPose, mrpt::config::CConfigFileBase::read_float(), mrpt::config::CConfigFileBase::read_string(), and mrpt::poses::CPose3D::setFromValues().

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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

◆ 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,
std::string_view  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)
protectedinherited

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, mrpt::hwdrivers::C2DRangeFinderAbstract::m_showPreview, and mrpt::hwdrivers::C2DRangeFinderAbstract::m_win.

Referenced by 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().

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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 268 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 275 of file CGenericSensor.h.

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

◆ setLoggerName()

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

◆ 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(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ setPathForExternalImages()

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( [ [maybe_unused] ] 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.

Definition at line 257 of file CGenericSensor.h.

◆ setSensorLabel()

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

Definition at line 96 of file CGenericSensor.h.

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

◆ setSerialPort()

void CRoboPeakLidar::setSerialPort ( const std::string &  port_name)

If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser.

Definition at line 348 of file CRoboPeakLidar.cpp.

References m_com_port, m_rplidar_drv, and THROW_EXCEPTION.

◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level)
inherited

◆ showPreview()

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

Enables GUI visualization in real-time.

Definition at line 117 of file C2DRangeFinderAbstract.h.

References mrpt::hwdrivers::C2DRangeFinderAbstract::m_showPreview.

◆ turnOff()

bool CRoboPeakLidar::turnOff ( )
overridevirtual

See base class docs.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

Definition at line 205 of file CRoboPeakLidar.cpp.

References THROW_EXCEPTION.

Referenced by ~CRoboPeakLidar().

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◆ turnOn()

bool CRoboPeakLidar::turnOn ( )
overridevirtual

See base class docs.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

Definition at line 191 of file CRoboPeakLidar.cpp.

References checkCOMMs(), and THROW_EXCEPTION.

Referenced by initialize().

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◆ 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 240 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 243 of file system/COutputLogger.h.

◆ m_com_port

std::string mrpt::hwdrivers::CRoboPeakLidar::m_com_port
protected

◆ m_com_port_baudrate

int mrpt::hwdrivers::CRoboPeakLidar::m_com_port_baudrate {115200}
protected

Definition at line 91 of file CRoboPeakLidar.h.

Referenced by checkCOMMs().

◆ 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 158 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

◆ 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 139 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 146 of file CGenericSensor.h.

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

◆ m_max_queue_len

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

See CGenericSensor.

Definition at line 136 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 253 of file system/COutputLogger.h.

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

◆ 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 155 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

◆ m_rplidar_drv

void* mrpt::hwdrivers::CRoboPeakLidar::m_rplidar_drv {nullptr}
protected

Definition at line 92 of file CRoboPeakLidar.h.

Referenced by checkCOMMs(), disconnect(), and setSerialPort().

◆ m_sensorLabel

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

See CGenericSensor.

Definition at line 141 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(), 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(), 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(), mrpt::hwdrivers::C2DRangeFinderAbstract::processPreview(), mrpt::hwdrivers::CSkeletonTracker::processPreviewNone(), and mrpt::hwdrivers::CGenericSensor::setSensorLabel().

◆ m_sensorPose

poses::CPose3D mrpt::hwdrivers::CRoboPeakLidar::m_sensorPose
protected

The sensor 6D pose:

Definition at line 89 of file CRoboPeakLidar.h.

Referenced by doProcessSimple(), and loadConfig_sensorSpecific().

◆ m_state

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

◆ m_stream

std::shared_ptr<mrpt::io::CStream> mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream
protectedinherited

◆ m_verbose

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



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