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::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	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::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...

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

◆ 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::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 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:

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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◆ 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

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

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

Definition at line 55 of file CRoboPeakLidar.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.

◆ 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

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

◆ 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

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 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

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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◆ 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

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(), 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::exception If 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

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.

◆ 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

Definition at line 90 of file CRoboPeakLidar.h.

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

◆ 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

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_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

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_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.

◆ 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

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_verbose

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

protectedinherited

Definition at line 149 of file CGenericSensor.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Logging methods

Member Typedef Documentation

◆ Ptr

◆ TListObservations

◆ TListObsPair

Member Enumeration Documentation

◆ TSensorState

Constructor & Destructor Documentation

◆ CRoboPeakLidar()

◆ ~CRoboPeakLidar()

Member Function Documentation

◆ appendObservation()

◆ appendObservations()

◆ bindIO()

◆ checkCOMMs()

◆ createSensor()

◆ createSensorPtr()

◆ disconnect()

◆ doProcess()

◆ doProcessSimple()

◆ dumpLogToConsole()

◆ enableVerbose()

◆ filterByExclusionAngles()

◆ filterByExclusionAreas()

◆ getDeviceHealth()

◆ getEstimatedScanPeriod()

◆ getExternalImageJPEGQuality()

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMinLoggingLevel()

◆ getObservation()

◆ getObservations()

◆ getProcessRate()

◆ GetRuntimeClass()

◆ 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()

◆ processPreview()

◆ registerClass()

◆ setExternalImageFormat()

◆ setExternalImageJPEGQuality()

◆ setLoggerName()

◆ setMinLoggingLevel()

◆ setPathForExternalImages()

◆ setSensorLabel()

◆ setSerialPort()

◆ setVerbosityLevel()

◆ showPreview()

◆ turnOff()

◆ turnOn()

◆ writeLogToFile()

Member Data Documentation

◆ logging_enable_console_output

◆ logging_enable_keep_record

◆ m_com_port