Detailed Description

This software driver implements the protocol SCIP-2.0 for interfacing HOKUYO URG/UTM/UXM/UST laser scanners (USB or Ethernet).

Refer to the example code HOKUYO_laser_test and to example rawlog-grabber config files

See also 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]
   HOKUYO_motorSpeed_rpm=600
   #HOKUYO_HS_mode   = false    // Optional (un-comment line if used):
Set/unset the High-sensitivity mode (not on all models/firmwares!)
   # Uncomment serial port or IP address, depending on the Hokuyo model
(serial/USB vs. Ethernet):
   COM_port_WIN = COM3       // Serial port name in Windows
   COM_port_LIN = ttyS0      // Serial port name in GNU/Linux
   #IP_DIR  =   192.168.0.10 // Uncommented this and "PORT_DIR" if the
used HOKUYO is connected by Ethernet instead of USB
   #PORT_DIR = 10940         // Default value: 10940
   pose_x=0.21  // Laser range scaner 3D position in the robot (meters)
   pose_y=0
   pose_z=0.34
   pose_yaw=0   // Angles in degrees
   pose_pitch=0
   pose_roll=0
   #disable_firmware_timestamp = true   // Uncomment to use PC time instead
of laser time
   # Optional: reduced FOV:
   # reduced_fov  = 25 // Deg
   # Sets decimation of scans directly at the Hokuyo scanner.
   # 0=means send all scans, 1=means send 50% of scans, etc.
   # scan_interval = 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

Definition at line 74 of file CHokuyoURG.h.

#include <mrpt/hwdrivers/CHokuyoURG.h>

Inheritance diagram for mrpt::hwdrivers::CHokuyoURG:

Classes
struct	TSensorInfo
	Used in CHokuyoURG::displayVersionInfo. More...

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
	CHokuyoURG ()
	Constructor. More...

	~CHokuyoURG () override
	Destructor: turns the laser off. 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...

bool	turnOn () override
	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...

bool	turnOff () override
	Disables the scanning mode (this can be used to turn the device in low energy mode, if available) More...

void	purgeBuffers ()
	Empties the RX buffers of the serial port. 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...

void	setIPandPort (const std::string &ip, const unsigned int &port)
	Set the ip direction and port to connect using Ethernet communication. More...

const std::string	getSerialPort ()
	Returns the currently set serial port. More...

void	setReducedFOV (const double fov)
	If called (before calling "turnOn"), the field of view of the laser is reduced to the given range (in radians), discarding the rest of measures. More...

bool	setHighSensitivityMode (bool enabled)
	Changes the high sensitivity mode (HS) (default: false) More...

bool	setIntensityMode (bool enabled)
	If true scans will capture intensity. More...

void	setScanInterval (unsigned int skipScanCount)
	Set the skip scan count (0 means send all scans). More...

unsigned int	getScanInterval () const

void	sendCmd (const char *str)

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::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...

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 CGenericSensor *	createSensor (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	ensureStreamIsOpen ()
	Returns true if there is a valid stream bound to the laser scanner, otherwise it first try to open the serial port "m_com_port". More...

void	closeStreamConnection ()
	Called upon dtor, or when trying to recover from a disconnected sensor. 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
std::string	m_rcv_data
	temp buffer for incoming data packets More...

char	m_rcv_status0 = '\0'

char	m_rcv_status1 = '\0'

double	m_reduced_fov {0}
	Used to reduce artificially the interval of scan ranges. More...

std::string	m_com_port {}
	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...

std::string	m_ip_dir {}
	If set to non-empty and m_port_dir too, the program will try to connect to a Hokuyo using Ethernet communication. More...

unsigned int	m_port_dir {10940}
	If set to non-empty and m_ip_dir too, the program will try to connect to a Hokuyo using Ethernet communication. More...

TSensorInfo	m_sensor_info
	The information gathered when the laser is first open. More...

uint32_t	m_timeStartUI {0}
	Time of the first data packet, for synchronization purposes. More...

int	m_timeStartSynchDelay {0}
	Counter to discard to first few packets before setting the correspondence between device and computer timestamps. More...

mrpt::system::TTimeStamp	m_timeStartTT

bool	m_disable_firmware_timestamp {false}

bool	m_intensity {false}
	Get intensity from lidar scan (default: false) More...

unsigned int	m_scan_interval {0}

std::shared_ptr< mrpt::io::CStream >	m_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...

Private Member Functions
bool	enableSCIP20 ()
	Enables the SCIP2.0 protocol (this must be called at the very begining!). More...

bool	setHighBaudrate ()
	Passes to 115200bps bitrate. More...

bool	switchLaserOn ()
	Switchs the laser on. More...

bool	switchLaserOff ()
	Switchs the laser off. More...

bool	setMotorSpeed (int motoSpeed_rpm)
	Changes the motor speed in rpm's (default 600rpm) More...

bool	displayVersionInfo ()
	Ask to the device, and print to the debug stream, details about the firmware version,serial number,... More...

bool	displaySensorInfo (CHokuyoURG::TSensorInfo *out_data=nullptr)
	Ask to the device, and print to the debug stream, details about the sensor model. More...

bool	startScanningMode ()
	Start the continuous scanning mode, using parameters stored in the object (loaded from the .ini file). More...

void	initialize () override
	Turns the laser on. More...

bool	parseResponse ()
	Parses the response from the device from raw bytes in m_rx_buffer, and stored the received frame in m_rcv_data. More...

bool	ensureBufferHasBytes (const size_t nDesiredBytes)
	Assures a minimum number of bytes in the input buffer, reading from the serial port only if required. More...

Private Attributes
int	m_firstRange {44}
	The first and last ranges to consider from the scan. More...

int	m_lastRange {725}

int	m_motorSpeed_rpm {0}
	The motor speed (default=600rpm) More...

poses::CPose3D	m_sensorPose {0, 0, 0, 0, 0, 0}
	The sensor 6D pose: More...

mrpt::containers::circular_buffer< uint8_t >	m_rx_buffer
	Auxiliary buffer for readings. More...

std::string	m_lastSentMeasCmd
	The last sent measurement command (MDXXX), including the last 0x0A. More...

bool	m_highSensMode {false}
	High sensitivity [HS] mode (default: false) More...

mrpt::gui::CDisplayWindow3D::Ptr	m_win

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

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

inherited

Definition at line 73 of file CGenericSensor.h.

◆ TListObservations

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

inherited

Definition at line 77 of file CGenericSensor.h.

◆ TListObsPair

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

inherited

Definition at line 79 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
ssUninitialized

Definition at line 84 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ CHokuyoURG()

CHokuyoURG::CHokuyoURG ( )

Constructor.

Definition at line 30 of file CHokuyoURG.cpp.

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

◆ ~CHokuyoURG()

CHokuyoURG::~CHokuyoURG ( )

override

Destructor: turns the laser off.

Definition at line 32 of file CHokuyoURG.cpp.

References closeStreamConnection(), mrpt::exception_to_str(), and m_win.

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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::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
  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 ( 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 ensureStreamIsOpen().

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◆ closeStreamConnection()

void CHokuyoURG::closeStreamConnection ( )

protected

Called upon dtor, or when trying to recover from a disconnected sensor.

Definition at line 45 of file CHokuyoURG.cpp.

References mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, and turnOff().

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

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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 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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◆ displaySensorInfo()

bool CHokuyoURG::displaySensorInfo ( CHokuyoURG::TSensorInfo * out_data = nullptr )

private

Ask to the device, and print to the debug stream, details about the sensor model.

It also optionally saves all the information in an user supplied data structure "out_data".

Returns: false on any error

Definition at line 777 of file CHokuyoURG.cpp.

Referenced by turnOn().

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◆ displayVersionInfo()

bool CHokuyoURG::displayVersionInfo ( )

private

Ask to the device, and print to the debug stream, details about the firmware version,serial number,...

Returns: false on any error

Definition at line 739 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), m_rcv_data, MRPT_LOG_DEBUG, MRPT_LOG_ERROR_STREAM, MRPT_LOG_INFO_STREAM, parseResponse(), and sendCmd().

Referenced by turnOn().

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◆ doProcess()

void C2DRangeFinderAbstract::doProcess ( )

overridevirtualinherited

Main method for a CGenericSensor.

Implements mrpt::hwdrivers::CGenericSensor.

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

Definition at line 62 of file C2DRangeFinderAbstract.cpp.

References mrpt::hwdrivers::CGenericSensor::appendObservation(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcessSimple(), mrpt::hwdrivers::C2DRangeFinderAbstract::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()

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

overridevirtual

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 will be typically called in a different thread than other methods, and will be called in a timely fashion.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

Definition at line 69 of file CHokuyoURG.cpp.

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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.

◆ enableSCIP20()

bool CHokuyoURG::enableSCIP20 ( )

private

Enables the SCIP2.0 protocol (this must be called at the very begining!).

Returns: false on any error

Definition at line 600 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_ERROR_STREAM, parseResponse(), and sendCmd().

Referenced by turnOn().

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◆ 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.

◆ ensureBufferHasBytes()

bool CHokuyoURG::ensureBufferHasBytes ( const size_t nDesiredBytes )

private

Assures a minimum number of bytes in the input buffer, reading from the serial port only if required.

Returns: false if the number of bytes are not available, even after trying to fetch more data from the serial port.

Definition at line 421 of file CHokuyoURG.cpp.

References ASSERT_BELOW_, mrpt::containers::circular_buffer< T >::available(), mrpt::containers::circular_buffer< T >::capacity(), m_rx_buffer, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, mrpt::containers::circular_buffer< T >::push_many(), mrpt::comms::CClientTCPSocket::readAsync(), and mrpt::containers::circular_buffer< T >::size().

Referenced by parseResponse().

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◆ ensureStreamIsOpen()

bool CHokuyoURG::ensureStreamIsOpen ( )

protected

Returns true if there is a valid stream bound to the laser scanner, otherwise it first try to open the serial port "m_com_port".

Definition at line 897 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, mrpt::hwdrivers::C2DRangeFinderAbstract::bindIO(), m_com_port, m_ip_dir, m_port_dir, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, MRPT_END, MRPT_LOG_ERROR, MRPT_LOG_ERROR_STREAM, MRPT_LOG_INFO_STREAM, MRPT_START, THROW_EXCEPTION, and turnOn().

Referenced by displaySensorInfo(), displayVersionInfo(), doProcessSimple(), enableSCIP20(), initialize(), parseResponse(), purgeBuffers(), setHighBaudrate(), setHighSensitivityMode(), setMotorSpeed(), startScanningMode(), switchLaserOff(), switchLaserOn(), and turnOn().

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◆ 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 mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), and 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 mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), and doProcessSimple().

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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

Definition at line 279 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 201 of file system/COutputLogger.h.

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

Referenced by mrpt::apps::RawlogGrabberApp::dump_verbose_info(), mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ 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

◆ getScanInterval()

unsigned int CHokuyoURG::getScanInterval ( ) const

Definition at line 668 of file CHokuyoURG.cpp.

References m_scan_interval.

◆ 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::CHokuyoURG::getSerialPort ( )

inline

Returns the currently set serial port.

See also: setSerialPort

Definition at line 224 of file CHokuyoURG.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 CHokuyoURG::initialize ( )

overrideprivatevirtual

Turns the laser on.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 1024 of file CHokuyoURG.cpp.

References ensureStreamIsOpen(), mrpt::system::LVL_DEBUG, mrpt::hwdrivers::CGenericSensor::m_verbose, MRPT_LOG_ERROR, mrpt::system::COutputLogger::setMinLoggingLevel(), 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 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 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(), mrpt::hwdrivers::CRoboPeakLidar::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSickLaserSerial::loadConfig_sensorSpecific(), and 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

This	method 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 CHokuyoURG::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 218 of file CHokuyoURG.cpp.

References ASSERTMSG_, mrpt::DEG2RAD(), mrpt::hwdrivers::C2DRangeFinderAbstract::loadCommonParams(), m_com_port, m_disable_firmware_timestamp, m_highSensMode, m_intensity, m_ip_dir, m_motorSpeed_rpm, m_port_dir, m_reduced_fov, m_scan_interval, m_sensorPose, MRPT_LOAD_HERE_CONFIG_VAR, mrpt::config::CConfigFileBase::read_bool(), mrpt::config::CConfigFileBase::read_float(), mrpt::config::CConfigFileBase::read_int(), 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

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::hmtslam::CHMTSLAM::areaAbstraction(), 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(), mrpt::hmtslam::CHMTSLAM::thread_3D_viewer(), mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), mrpt::hmtslam::CHMTSLAM::thread_TBI(), 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,
		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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◆ parseResponse()

bool CHokuyoURG::parseResponse ( )

private

Parses the response from the device from raw bytes in m_rx_buffer, and stored the received frame in m_rcv_data.

Status codes are stored in m_rcv_status0 and m_rcv_status1.

Returns: false on any error or if received frame is incomplete and needs more input bytes.

Definition at line 446 of file CHokuyoURG.cpp.

References ASSERT_, ensureBufferHasBytes(), ensureStreamIsOpen(), m_lastSentMeasCmd, m_rcv_data, m_rcv_status0, m_rcv_status1, m_rx_buffer, MRPT_LOG_DEBUG_STREAM, MRPT_LOG_ERROR_FMT, MRPT_LOG_ERROR_STREAM, mrpt::containers::circular_buffer< T >::peek(), and mrpt::containers::circular_buffer< T >::pop().

Referenced by displaySensorInfo(), displayVersionInfo(), doProcessSimple(), enableSCIP20(), setHighBaudrate(), setHighSensitivityMode(), setMotorSpeed(), startScanningMode(), switchLaserOff(), and switchLaserOn().

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

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◆ purgeBuffers()

void CHokuyoURG::purgeBuffers ( )

Empties the RX buffers of the serial port.

Definition at line 1037 of file CHokuyoURG.cpp.

References ensureStreamIsOpen(), mrpt::comms::CClientTCPSocket::getReadPendingBytes(), m_ip_dir, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, mrpt::comms::CSerialPort::purgeBuffers(), and THROW_EXCEPTION.

Referenced by turnOn().

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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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◆ sendCmd()

void CHokuyoURG::sendCmd ( const char * str )

Definition at line 54 of file CHokuyoURG.cpp.

References ASSERT_, ASSERT_EQUAL_, m_lastSentMeasCmd, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, MRPT_END, MRPT_LOG_DEBUG_STREAM, and MRPT_START.

Referenced by displaySensorInfo(), displayVersionInfo(), enableSCIP20(), setHighBaudrate(), setHighSensitivityMode(), setMotorSpeed(), startScanningMode(), switchLaserOff(), and switchLaserOn().

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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.

◆ setHighBaudrate()

bool CHokuyoURG::setHighBaudrate ( )

private

Passes to 115200bps bitrate.

Returns: false on any error

Definition at line 396 of file CHokuyoURG.cpp.

References ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_ERROR, parseResponse(), and sendCmd().

Referenced by turnOn().

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◆ setHighSensitivityMode()

bool CHokuyoURG::setHighSensitivityMode ( bool enabled )

Changes the high sensitivity mode (HS) (default: false)

Returns: false on any error

Definition at line 705 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, cmd(), ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_LOG_ERROR_STREAM, parseResponse(), sendCmd(), and mrpt::system::os::sprintf().

Referenced by turnOn().

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◆ setIntensityMode()

bool CHokuyoURG::setIntensityMode ( bool enabled )

If true scans will capture intensity.

(default: false) Should not be called while scanning.

Returns: false on any error

Definition at line 733 of file CHokuyoURG.cpp.

References m_intensity.

◆ setIPandPort()

void mrpt::hwdrivers::CHokuyoURG::setIPandPort	(	const std::string &	ip,
		const unsigned int &	port
	)

inline

Set the ip direction and port to connect using Ethernet communication.

Definition at line 217 of file CHokuyoURG.h.

References m_ip_dir, and m_port_dir.

◆ 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(), mrpt::apps::ICP_SLAM_App_Base::ICP_SLAM_App_Base(), mrpt::apps::ICP_SLAM_App_Live::ICP_SLAM_App_Live(), mrpt::apps::ICP_SLAM_App_Rawlog::ICP_SLAM_App_Rawlog(), mrpt::graphslam::CWindowManager::initCWindowManager(), mrpt::apps::MonteCarloLocalization_Base::MonteCarloLocalization_Base(), mrpt::apps::RBPF_SLAM_App_Base::RBPF_SLAM_App_Base(), and mrpt::apps::RBPF_SLAM_App_Rawlog::RBPF_SLAM_App_Rawlog().

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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(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), 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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◆ setMotorSpeed()

bool CHokuyoURG::setMotorSpeed ( int motoSpeed_rpm )

private

Changes the motor speed in rpm's (default 600rpm)

Returns: false on any error

Definition at line 669 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, cmd(), ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_LOG_ERROR_STREAM, parseResponse(), sendCmd(), and mrpt::system::os::sprintf().

Referenced by turnOn().

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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::exception If the directory doesn't exists and cannot be created.

Definition at line 257 of file CGenericSensor.h.

◆ setReducedFOV()

void mrpt::hwdrivers::CHokuyoURG::setReducedFOV ( const double fov )

inline

If called (before calling "turnOn"), the field of view of the laser is reduced to the given range (in radians), discarding the rest of measures.

Call with "0" to disable this reduction again (the default).

Definition at line 229 of file CHokuyoURG.h.

References m_reduced_fov.

◆ setScanInterval()

void CHokuyoURG::setScanInterval ( unsigned int skipScanCount )

Set the skip scan count (0 means send all scans).

Must be set before initialize()

Definition at line 664 of file CHokuyoURG.cpp.

References m_scan_interval.

◆ 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 mrpt::hwdrivers::CHokuyoURG::setSerialPort ( const std::string & port_name )

inline

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 215 of file CHokuyoURG.h.

References m_com_port.

◆ 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(), mrpt::math::ransac_detect_2D_lines(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ 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.

◆ startScanningMode()

bool CHokuyoURG::startScanningMode ( )

private

Start the continuous scanning mode, using parameters stored in the object (loaded from the .ini file).

Maps to SCIP2.0 commands MD (no intensity) or ME (intensity). After this command the device will start to send scans until switchLaserOff() is called.

Returns: false on any error

Definition at line 863 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, cmd(), ensureStreamIsOpen(), m_firstRange, m_intensity, m_lastRange, m_scan_interval, MRPT_LOG_DEBUG, MRPT_LOG_ERROR_STREAM, parseResponse(), sendCmd(), and mrpt::system::os::sprintf().

Referenced by turnOn().

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◆ switchLaserOff()

bool CHokuyoURG::switchLaserOff ( )

private

Switchs the laser off.

Returns: false on any error

Definition at line 643 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_ERROR_STREAM, parseResponse(), and sendCmd().

Referenced by turnOff(), and turnOn().

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◆ switchLaserOn()

bool CHokuyoURG::switchLaserOn ( )

private

Switchs the laser on.

Returns: false on any error

Definition at line 622 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_ERROR_STREAM, parseResponse(), and sendCmd().

Referenced by turnOn().

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◆ turnOff()

bool CHokuyoURG::turnOff ( )

overridevirtual

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.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

Definition at line 388 of file CHokuyoURG.cpp.

References switchLaserOff().

Referenced by closeStreamConnection().

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◆ turnOn()

bool CHokuyoURG::turnOn ( )

overridevirtual

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.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

Definition at line 277 of file CHokuyoURG.cpp.

References displaySensorInfo(), displayVersionInfo(), enableSCIP20(), ensureStreamIsOpen(), m_firstRange, m_highSensMode, m_ip_dir, m_lastRange, m_motorSpeed_rpm, M_PI, m_reduced_fov, m_sensor_info, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, MRPT_END, MRPT_LOG_INFO_STREAM, MRPT_START, purgeBuffers(), mrpt::RAD2DEG(), mrpt::hwdrivers::CHokuyoURG::TSensorInfo::scan_first, mrpt::hwdrivers::CHokuyoURG::TSensorInfo::scan_last, mrpt::hwdrivers::CHokuyoURG::TSensorInfo::scans_per_360deg, mrpt::comms::CSerialPort::setConfig(), setHighBaudrate(), setHighSensitivityMode(), setMotorSpeed(), startScanningMode(), switchLaserOff(), and switchLaserOn().

Referenced by ensureStreamIsOpen(), and 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::CHokuyoURG::m_com_port {}

protected

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 269 of file CHokuyoURG.h.

Referenced by ensureStreamIsOpen(), getSerialPort(), loadConfig_sensorSpecific(), and setSerialPort().

◆ m_disable_firmware_timestamp

bool mrpt::hwdrivers::CHokuyoURG::m_disable_firmware_timestamp {false}

protected

Definition at line 287 of file CHokuyoURG.h.

Referenced by doProcessSimple(), and loadConfig_sensorSpecific().

◆ 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

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

Definition at line 160 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_firstRange

int mrpt::hwdrivers::CHokuyoURG::m_firstRange {44}

private

The first and last ranges to consider from the scan.

Definition at line 95 of file CHokuyoURG.h.

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

◆ 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_highSensMode

bool mrpt::hwdrivers::CHokuyoURG::m_highSensMode {false}

private

High sensitivity [HS] mode (default: false)

Definition at line 107 of file CHokuyoURG.h.

Referenced by loadConfig_sensorSpecific(), and turnOn().

◆ m_intensity

bool mrpt::hwdrivers::CHokuyoURG::m_intensity {false}

protected

Get intensity from lidar scan (default: false)

Definition at line 289 of file CHokuyoURG.h.

Referenced by doProcessSimple(), loadConfig_sensorSpecific(), setIntensityMode(), and startScanningMode().

◆ m_ip_dir

std::string mrpt::hwdrivers::CHokuyoURG::m_ip_dir {}

protected

If set to non-empty and m_port_dir too, the program will try to connect to a Hokuyo using Ethernet communication.

Definition at line 273 of file CHokuyoURG.h.

Referenced by ensureStreamIsOpen(), loadConfig_sensorSpecific(), purgeBuffers(), setIPandPort(), and turnOn().

◆ m_lastRange

int mrpt::hwdrivers::CHokuyoURG::m_lastRange {725}

private

Definition at line 95 of file CHokuyoURG.h.

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

◆ m_lastSentMeasCmd

std::string mrpt::hwdrivers::CHokuyoURG::m_lastSentMeasCmd

private

The last sent measurement command (MDXXX), including the last 0x0A.

Definition at line 104 of file CHokuyoURG.h.

Referenced by parseResponse(), and sendCmd().

◆ 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_motorSpeed_rpm

int mrpt::hwdrivers::CHokuyoURG::m_motorSpeed_rpm {0}

private

The motor speed (default=600rpm)

Definition at line 97 of file CHokuyoURG.h.

Referenced by loadConfig_sensorSpecific(), and turnOn().

◆ 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_port_dir

unsigned int mrpt::hwdrivers::CHokuyoURG::m_port_dir {10940}

protected

If set to non-empty and m_ip_dir too, the program will try to connect to a Hokuyo using Ethernet communication.

Definition at line 276 of file CHokuyoURG.h.

Referenced by ensureStreamIsOpen(), loadConfig_sensorSpecific(), and setIPandPort().

◆ m_process_rate

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

protectedinherited

See CGenericSensor.

Definition at line 134 of file CGenericSensor.h.

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

◆ m_rcv_data

std::string mrpt::hwdrivers::CHokuyoURG::m_rcv_data

protected

temp buffer for incoming data packets

Definition at line 251 of file CHokuyoURG.h.

Referenced by displaySensorInfo(), displayVersionInfo(), doProcessSimple(), and parseResponse().

◆ m_rcv_status0

char mrpt::hwdrivers::CHokuyoURG::m_rcv_status0 = '\0'

protected

Definition at line 252 of file CHokuyoURG.h.

Referenced by doProcessSimple(), and parseResponse().

◆ m_rcv_status1

char mrpt::hwdrivers::CHokuyoURG::m_rcv_status1 = '\0'

protected

Definition at line 252 of file CHokuyoURG.h.

Referenced by parseResponse().

◆ m_reduced_fov

double mrpt::hwdrivers::CHokuyoURG::m_reduced_fov {0}

protected

Used to reduce artificially the interval of scan ranges.

Definition at line 264 of file CHokuyoURG.h.

Referenced by loadConfig_sensorSpecific(), setReducedFOV(), and turnOn().

◆ m_rx_buffer

mrpt::containers::circular_buffer<uint8_t> mrpt::hwdrivers::CHokuyoURG::m_rx_buffer

private

Auxiliary buffer for readings.

Definition at line 101 of file CHokuyoURG.h.

Referenced by ensureBufferHasBytes(), and parseResponse().

◆ m_scan_interval

unsigned int mrpt::hwdrivers::CHokuyoURG::m_scan_interval {0}

protected

Definition at line 290 of file CHokuyoURG.h.

Referenced by getScanInterval(), loadConfig_sensorSpecific(), setScanInterval(), and startScanningMode().

◆ m_sensor_info

TSensorInfo mrpt::hwdrivers::CHokuyoURG::m_sensor_info

protected

The information gathered when the laser is first open.

Definition at line 279 of file CHokuyoURG.h.

Referenced by doProcessSimple(), and turnOn().

◆ m_sensorLabel

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

protectedinherited

See CGenericSensor.

Definition at line 141 of file CGenericSensor.h.

◆ m_sensorPose

poses::CPose3D mrpt::hwdrivers::CHokuyoURG::m_sensorPose {0, 0, 0, 0, 0, 0}

private

The sensor 6D pose:

Definition at line 99 of file CHokuyoURG.h.

Referenced by doProcessSimple(), and loadConfig_sensorSpecific().

◆ m_state

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

protectedinherited

Definition at line 148 of file CGenericSensor.h.

◆ m_stream

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

protectedinherited

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

Definition at line 69 of file C2DRangeFinderAbstract.h.

◆ m_timeStartSynchDelay

int mrpt::hwdrivers::CHokuyoURG::m_timeStartSynchDelay {0}

protected

Counter to discard to first few packets before setting the correspondence between device and computer timestamps.

Definition at line 285 of file CHokuyoURG.h.

Referenced by doProcessSimple().

◆ m_timeStartTT

mrpt::system::TTimeStamp mrpt::hwdrivers::CHokuyoURG::m_timeStartTT

protected

Definition at line 286 of file CHokuyoURG.h.

Referenced by doProcessSimple().

◆ m_timeStartUI

uint32_t mrpt::hwdrivers::CHokuyoURG::m_timeStartUI {0}

protected

Time of the first data packet, for synchronization purposes.

Definition at line 282 of file CHokuyoURG.h.

Referenced by doProcessSimple().

◆ m_verbose

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

protectedinherited

Definition at line 149 of file CGenericSensor.h.

◆ m_win

mrpt::gui::CDisplayWindow3D::Ptr mrpt::hwdrivers::CHokuyoURG::m_win

private

Definition at line 108 of file CHokuyoURG.h.

Referenced by ~CHokuyoURG().

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Logging methods

Member Typedef Documentation

◆ Ptr

◆ TListObservations

◆ TListObsPair

Member Enumeration Documentation

◆ TSensorState

Constructor & Destructor Documentation

◆ CHokuyoURG()

◆ ~CHokuyoURG()

Member Function Documentation

◆ appendObservation()

◆ appendObservations()

◆ bindIO()

◆ closeStreamConnection()

◆ createSensor()

◆ createSensorPtr()

◆ displaySensorInfo()

◆ displayVersionInfo()

◆ doProcess()

◆ doProcessSimple()

◆ dumpLogToConsole()

◆ enableSCIP20()

◆ enableVerbose()

◆ ensureBufferHasBytes()

◆ ensureStreamIsOpen()

◆ filterByExclusionAngles()

◆ filterByExclusionAreas()

◆ getEstimatedScanPeriod()

◆ getExternalImageJPEGQuality()

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMinLoggingLevel()

◆ getObservation()

◆ getObservations()

◆ getProcessRate()

◆ GetRuntimeClass()

◆ getScanInterval()

◆ getSensorLabel()

◆ getSerialPort()

◆ getState()

◆ initialize()

◆ internal_notifyGoodScanNow()

◆ internal_notifyNoScanReceived()

◆ isLoggingLevelVisible()

◆ isVerboseEnabled()

◆ loadCommonParams()

◆ loadConfig()

◆ loadConfig_sensorSpecific()

◆ logCond()

◆ logDeregisterCallback()

◆ logFmt()

◆ loggerReset()

◆ logging_levels_to_colors()

◆ logging_levels_to_names()

◆ logRegisterCallback()

◆ logStr()

◆ parseResponse()

◆ processPreview()

◆ purgeBuffers()

◆ registerClass()

◆ sendCmd()

◆ setExternalImageFormat()

◆ setExternalImageJPEGQuality()

◆ setHighBaudrate()

◆ setHighSensitivityMode()

◆ setIntensityMode()

◆ setIPandPort()