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.
Definition at line 77 of file CHokuyoURG.h.
#include <mrpt/hwdrivers/CHokuyoURG.h>
Classes | |
struct | TSensorInfo |
Used in CHokuyoURG::displayVersionInfo. More... | |
Public Types | |
enum | TSensorState { ssInitializing = 0, ssWorking, ssError } |
The current state of the sensor. More... | |
using | Ptr = std::shared_ptr< CGenericSensor > |
using | TListObservations = std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr > |
using | TListObsPair = std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr > |
Public Member Functions | |
CHokuyoURG () | |
Constructor. More... | |
virtual | ~CHokuyoURG () |
Destructor: turns the laser off. More... | |
void | doProcessSimple (bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError) |
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 () |
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 () |
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 (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 () |
Main method for a CGenericSensor. 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 §ion) |
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 (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 void | registerClass (const TSensorClassId *pNewClass) |
Register a class into the internal list of "CGenericSensor" descendents. More... | |
static CGenericSensor * | createSensor (const std::string &className) |
Creates a sensor by a name of the class. More... | |
static CGenericSensor::Ptr | createSensorPtr (const std::string &className) |
Just like createSensor, but returning a smart pointer to the newly created sensor object. More... | |
Static Public Attributes | |
static mrpt::system::TConsoleColor | logging_levels_to_colors [NUMBER_OF_VERBOSITY_LEVELS] |
Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More... | |
static std::string | logging_levels_to_names [NUMBER_OF_VERBOSITY_LEVELS] |
Map from VerbosityLevels to their corresponding names. 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 | loadConfig_sensorSpecific (const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection) |
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 | 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... | |
double | m_reduced_fov |
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 |
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... | |
bool | m_I_am_owner_serial_port |
uint32_t | m_timeStartUI |
Time of the first data packet, for synchronization purposes. More... | |
int | m_timeStartSynchDelay |
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 |
bool | m_intensity |
Get intensity from lidar scan (default: false) More... | |
unsigned int | m_scan_interval |
mrpt::io::CStream * | m_stream |
The I/O channel (will be nullptr if not bound). More... | |
VerbosityLevel | m_min_verbosity_level |
Provided messages with VerbosityLevel smaller than this value shall be ignored. More... | |
size_t | m_grab_decimation_counter |
Used when "m_grab_decimation" is enabled. More... | |
TSensorState | m_state |
bool | m_verbose |
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 |
For JPEG images, the quality (default=95%). More... | |
Private Types | |
using | registered_sensor_classes_t = std::map< std::string, const TSensorClassId * > |
Used in registerClass. 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 () |
Turns the laser on. More... | |
bool | receiveResponse (char &rcv_status0, char &rcv_status1) |
Waits for a response from the device. More... | |
bool | assureBufferHasBytes (const size_t nDesiredBytes) |
Assures a minimum number of bytes in the input buffer, reading from the serial port only if required. More... | |
std::string | generateStringFromFormat (const char *fmt, va_list argp) const |
Helper method for generating a std::string instance from printf-like arguments. More... | |
Static Private Member Functions | |
static registered_sensor_classes_t & | get_registered_sensor_classes () |
Access to singleton. More... | |
Private Attributes | |
int | m_firstRange |
The first and last ranges to consider from the scan. More... | |
int | m_lastRange |
int | m_motorSpeed_rpm |
The motor speed (default=600rpm) More... | |
poses::CPose3D | m_sensorPose |
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 |
High sensitivity [HS] mode (default: false) More... | |
mrpt::gui::CDisplayWindow3D::Ptr | m_win |
mrpt::obs::CObservation2DRangeScan | m_lastObservation |
bool | m_lastObservationIsNew |
bool | m_hardwareError |
std::mutex | m_csChangeStream |
For being thread-safe. More... | |
std::mutex | m_csLastObservation |
mrpt::obs::CObservation2DRangeScan::Ptr | m_nextObservation |
A dynamic object used as buffer in doProcess. More... | |
mrpt::obs::CObservation2DRangeScan::TListExclusionAreasWithRanges | m_lstExclusionPolys |
A list of optional exclusion polygons, in coordinates relative to the vehicle, that is, taking into account the "sensorPose". More... | |
std::vector< std::pair< double, double > > | m_lstExclusionAngles |
A list of pairs of angles <init,end> such as all sensor ranges falling in those forbiden angles will be marked as invalid. More... | |
bool | m_showPreview |
If true, shows a 3D window with a preview of the grabber data. More... | |
std::string | m_logger_name |
std::deque< TMsg > | m_history |
std::deque< output_logger_callback_t > | m_listCallbacks |
std::mutex | m_csObjList |
The critical section for m_objList. More... | |
TListObservations | m_objList |
The queue of objects to be returned by getObservations. More... | |
Logging methods | |
void | logStr (const VerbosityLevel level, const std::string &msg_str) const |
Main method to add the specified message string to the logger. More... | |
void | logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3 |
Alternative logging method, which mimics the printf behavior. More... | |
void void | logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const |
Log the given message only if the condition is satisfied. More... | |
void | setLoggerName (const std::string &name) |
Set the name of the COutputLogger instance. More... | |
std::string | getLoggerName () const |
Return the name of the COutputLogger instance. More... | |
void | setMinLoggingLevel (const VerbosityLevel level) |
Set the minimum logging level for which the incoming logs are going to be taken into account. More... | |
void | setVerbosityLevel (const VerbosityLevel level) |
alias of setMinLoggingLevel() More... | |
VerbosityLevel | getMinLoggingLevel () const |
bool | isLoggingLevelVisible (VerbosityLevel level) const |
void | getLogAsString (std::string &log_contents) const |
Fill the provided string with the contents of the logger's history in std::string representation. More... | |
std::string | getLogAsString () const |
Get the history of COutputLogger instance in a string representation. More... | |
void | writeLogToFile (const std::string *fname_in=NULL) 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 |
[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 |
[Default=false] Enables storing all messages into an internal list. More... | |
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inherited |
Definition at line 73 of file CGenericSensor.h.
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privateinherited |
Used in registerClass.
Definition at line 124 of file CGenericSensor.h.
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inherited |
Definition at line 77 of file CGenericSensor.h.
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inherited |
Definition at line 79 of file CGenericSensor.h.
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inherited |
The current state of the sensor.
Enumerator | |
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ssInitializing | |
ssWorking | |
ssError |
Definition at line 84 of file CGenericSensor.h.
CHokuyoURG::CHokuyoURG | ( | ) |
Constructor.
Definition at line 30 of file CHokuyoURG.cpp.
References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.
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virtual |
Destructor: turns the laser off.
Definition at line 51 of file CHokuyoURG.cpp.
References m_I_am_owner_serial_port, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, m_win, and turnOff().
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inlineprotectedinherited |
Like appendObservations() but for just one observation.
Definition at line 179 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::appendObservations().
Referenced by mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CIMUIntersense::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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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:
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 53 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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private |
Assures a minimum number of bytes in the input buffer, reading from the serial port only if required.
Definition at line 416 of file CHokuyoURG.cpp.
References ASSERT_, mrpt::containers::circular_buffer< T >::available(), mrpt::containers::circular_buffer< T >::capacity(), m_ip_dir, m_rx_buffer, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, min, mrpt::containers::circular_buffer< T >::push_many(), mrpt::io::CStream::Read(), mrpt::comms::CClientTCPSocket::readAsync(), and mrpt::containers::circular_buffer< T >::size().
Referenced by receiveResponse().
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inherited |
Binds the object to a given I/O channel.
The stream object must not be deleted before the destruction of this class.
Definition at line 43 of file C2DRangeFinderAbstract.cpp.
References mrpt::hwdrivers::C2DRangeFinderAbstract::m_csChangeStream, and mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream.
Referenced by ensureStreamIsOpen().
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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:
Definition at line 103 of file CGenericSensor.cpp.
References mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().
Referenced by mrpt::hwdrivers::CGenericSensor::createSensorPtr().
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inlinestaticinherited |
Just like createSensor, but returning a smart pointer to the newly created sensor object.
Definition at line 219 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::createSensor().
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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".
Definition at line 772 of file CHokuyoURG.cpp.
References __CURRENT_FUNCTION_NAME__, mrpt::hwdrivers::CHokuyoURG::TSensorInfo::d_max, mrpt::hwdrivers::CHokuyoURG::TSensorInfo::d_min, ensureStreamIsOpen(), m_rcv_data, mrpt::system::os::memcpy(), mrpt::hwdrivers::CHokuyoURG::TSensorInfo::model, mrpt::hwdrivers::CHokuyoURG::TSensorInfo::motor_speed_rpm, MRPT_LOG_DEBUG, MRPT_LOG_ERROR, MRPT_LOG_ERROR_STREAM, MRPT_LOG_INFO_STREAM, receiveResponse(), mrpt::hwdrivers::CHokuyoURG::TSensorInfo::scan_first, mrpt::hwdrivers::CHokuyoURG::TSensorInfo::scan_front, mrpt::hwdrivers::CHokuyoURG::TSensorInfo::scan_last, mrpt::hwdrivers::CHokuyoURG::TSensorInfo::scans_per_360deg, and sendCmd().
Referenced by turnOn().
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private |
Ask to the device, and print to the debug stream, details about the firmware version,serial number,...
Definition at line 733 of file CHokuyoURG.cpp.
References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), m_rcv_data, MRPT_LOG_DEBUG, MRPT_LOG_ERROR_STREAM, MRPT_LOG_INFO_STREAM, receiveResponse(), and sendCmd().
Referenced by turnOn().
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virtualinherited |
Main method for a CGenericSensor.
Implements mrpt::hwdrivers::CGenericSensor.
Reimplemented in mrpt::hwdrivers::CLMS100Eth, and mrpt::hwdrivers::CSICKTim561Eth.
Definition at line 70 of file C2DRangeFinderAbstract.cpp.
References mrpt::hwdrivers::CGenericSensor::appendObservation(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcessSimple(), mrpt::hwdrivers::C2DRangeFinderAbstract::m_nextObservation, mrpt::hwdrivers::CGenericSensor::m_state, mrpt::hwdrivers::CGenericSensor::ssError, mrpt::hwdrivers::CGenericSensor::ssWorking, and THROW_EXCEPTION.
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virtual |
Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it.
This method 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 78 of file CHokuyoURG.cpp.
References mrpt::obs::CObservation2DRangeScan::aperture, mrpt::obs::gnss::b1, mrpt::obs::gnss::b2, mrpt::obs::gnss::b3, mrpt::hwdrivers::CHokuyoURG::TSensorInfo::d_max, ensureStreamIsOpen(), mrpt::hwdrivers::C2DRangeFinderAbstract::filterByExclusionAngles(), mrpt::hwdrivers::C2DRangeFinderAbstract::filterByExclusionAreas(), m_disable_firmware_timestamp, m_firstRange, m_intensity, m_lastRange, M_PI, m_rcv_data, m_sensor_info, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, m_sensorPose, mrpt::hwdrivers::CGenericSensor::m_state, m_timeStartSynchDelay, m_timeStartTT, m_timeStartUI, mrpt::obs::CObservation2DRangeScan::maxRange, MINIMUM_PACKETS_TO_SET_TIMESTAMP_REFERENCE, MRPT_LOG_ERROR_STREAM, mrpt::system::now(), mrpt::hwdrivers::C2DRangeFinderAbstract::processPreview(), receiveResponse(), mrpt::obs::CObservation2DRangeScan::resizeScan(), mrpt::obs::CObservation2DRangeScan::rightToLeft, mrpt::obs::CObservation2DRangeScan::scan, mrpt::hwdrivers::CHokuyoURG::TSensorInfo::scans_per_360deg, mrpt::system::secondsToTimestamp(), mrpt::obs::CObservation::sensorLabel, mrpt::obs::CObservation2DRangeScan::sensorPose, mrpt::obs::CObservation2DRangeScan::setScanHasIntensity(), mrpt::obs::CObservation2DRangeScan::setScanIntensity(), mrpt::obs::CObservation2DRangeScan::setScanRange(), mrpt::obs::CObservation2DRangeScan::setScanRangeValidity(), mrpt::hwdrivers::CGenericSensor::ssWorking, mrpt::obs::CObservation2DRangeScan::stdError, and mrpt::obs::CObservation::timestamp.
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inherited |
Dump the current contents of the COutputLogger instance in the terminal window.
Definition at line 179 of file COutputLogger.cpp.
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private |
Enables the SCIP2.0 protocol (this must be called at the very begining!).
Definition at line 587 of file CHokuyoURG.cpp.
References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_ERROR_STREAM, receiveResponse(), and sendCmd().
Referenced by turnOn().
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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 105 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::m_verbose.
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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 894 of file CHokuyoURG.cpp.
References __CURRENT_FUNCTION_NAME__, mrpt::hwdrivers::C2DRangeFinderAbstract::bindIO(), mrpt::comms::CClientTCPSocket::connect(), mrpt::comms::CClientTCPSocket::isConnected(), mrpt::comms::CSerialPort::isOpen(), m_com_port, m_I_am_owner_serial_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, mrpt::comms::CSerialPort::open(), THROW_EXCEPTION, and turnOn().
Referenced by displaySensorInfo(), displayVersionInfo(), doProcessSimple(), enableSCIP20(), initialize(), purgeBuffers(), receiveResponse(), setHighBaudrate(), setHighSensitivityMode(), setMotorSpeed(), startScanningMode(), switchLaserOff(), switchLaserOn(), and turnOn().
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protectedinherited |
Mark as invalid those ranges in a set of forbiden angle ranges.
Definition at line 182 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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protectedinherited |
Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons.
Definition at line 173 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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privateinherited |
Helper method for generating a std::string instance from printf-like arguments.
Definition at line 99 of file COutputLogger.cpp.
References mrpt::system::os::vsnprintf().
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staticprivateinherited |
Access to singleton.
Definition at line 112 of file CGenericSensor.cpp.
Referenced by mrpt::hwdrivers::CGenericSensor::createSensor(), and mrpt::hwdrivers::CGenericSensor::registerClass().
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inlineinherited |
Definition at line 289 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.
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inherited |
Get the history of COutputLogger instance in a string representation.
Definition at line 148 of file COutputLogger.cpp.
Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().
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inherited |
Fill the provided string with the contents of the logger's history in std::string representation.
Definition at line 143 of file COutputLogger.cpp.
|
inherited |
Return the last Tmsg instance registered in the logger history.
Definition at line 184 of file COutputLogger.cpp.
References mrpt::system::COutputLogger::TMsg::getAsString().
|
inherited |
Fill inputtted string with the contents of the last message in history.
Definition at line 190 of file COutputLogger.cpp.
|
inherited |
Return the name of the COutputLogger instance.
Definition at line 132 of file COutputLogger.cpp.
Referenced by mrpt::system::COutputLogger::TMsg::TMsg().
|
inlineinherited |
Definition at line 200 of file system/COutputLogger.h.
References mrpt::system::COutputLogger::m_min_verbosity_level.
Referenced by mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().
|
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 53 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.
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inherited |
Returns a list of enqueued objects, emptying it (thread-safe).
The objects must be freed by the invoker.
Definition at line 91 of file CGenericSensor.cpp.
References mrpt::hwdrivers::CGenericSensor::m_csObjList, and mrpt::hwdrivers::CGenericSensor::m_objList.
|
inlineinherited |
Definition at line 93 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::m_process_rate.
|
pure virtualinherited |
unsigned int CHokuyoURG::getScanInterval | ( | ) | const |
Definition at line 660 of file CHokuyoURG.cpp.
References m_scan_interval.
|
inlineinherited |
Definition at line 94 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.
|
inline |
Returns the currently set serial port.
Definition at line 225 of file CHokuyoURG.h.
References m_com_port.
|
inlineinherited |
The current state of the sensor
Definition at line 92 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::m_state.
|
privatevirtual |
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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inlineinherited |
Definition at line 201 of file system/COutputLogger.h.
References mrpt::system::COutputLogger::m_min_verbosity_level.
Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().
|
inlineinherited |
Definition at line 106 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::m_verbose.
|
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".
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')
Definition at line 98 of file C2DRangeFinderAbstract.cpp.
References ASSERT_, ASSERTMSG_, mrpt::DEG2RAD(), mrpt::format(), mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionAngles, mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionPolys, M_PI, mrpt::hwdrivers::C2DRangeFinderAbstract::m_showPreview, mrpt::config::CConfigFileBase::read_bool(), mrpt::config::CConfigFileBase::read_double(), 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().
|
inherited |
Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".
This | method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value. |
Definition at line 132 of file CGenericSensor.cpp.
References mrpt::hwdrivers::CGenericSensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_max_queue_len, mrpt::hwdrivers::CGenericSensor::m_process_rate, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, MRPT_END, MRPT_START, mrpt::config::CConfigFileBase::read_double(), mrpt::config::CConfigFileBase::read_int(), and mrpt::config::CConfigFileBase::read_string().
|
protectedvirtual |
See the class documentation at the top for expected parameters.
Implements mrpt::hwdrivers::CGenericSensor.
Definition at line 212 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().
|
inherited |
Log the given message only if the condition is satisfied.
Definition at line 120 of file COutputLogger.cpp.
|
inherited |
Definition at line 287 of file COutputLogger.cpp.
References getAddress().
|
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
Definition at line 80 of file COutputLogger.cpp.
Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().
|
inherited |
Reset the contents of the logger instance.
Called upon construction.
Definition at line 195 of file COutputLogger.cpp.
References mrpt::system::LVL_INFO.
|
inherited |
Definition at line 274 of file COutputLogger.cpp.
|
inherited |
Main method to add the specified message string to the logger.
Definition at line 61 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(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().
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protectedinherited |
Must be called inside the capture method to allow optional GUI preview of scans.
Definition at line 188 of file C2DRangeFinderAbstract.cpp.
References 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().
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(), mrpt::io::CStream::Read(), and THROW_EXCEPTION.
Referenced by turnOn().
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private |
Waits for a response from the device.
Packet is stored in m_rcv_data, and status codes in the reference parameters.
Definition at line 456 of file CHokuyoURG.cpp.
References ASSERT_, assureBufferHasBytes(), ensureStreamIsOpen(), m_lastSentMeasCmd, m_rcv_data, m_rx_buffer, MRPT_LOG_DEBUG_STREAM, MRPT_LOG_ERROR_FMT, MRPT_LOG_ERROR_STREAM, and mrpt::containers::circular_buffer< T >::pop().
Referenced by displaySensorInfo(), displayVersionInfo(), doProcessSimple(), enableSCIP20(), setHighBaudrate(), setHighSensitivityMode(), setMotorSpeed(), startScanningMode(), switchLaserOff(), and switchLaserOn().
|
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 121 of file CGenericSensor.cpp.
References mrpt::hwdrivers::TSensorClassId::className, and mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().
Referenced by mrpt::hwdrivers::CGenericSensor::CLASSINIT_GENERIC_SENSOR::CLASSINIT_GENERIC_SENSOR().
void CHokuyoURG::sendCmd | ( | const char * | str | ) |
Definition at line 63 of file CHokuyoURG.cpp.
References ASSERT_, ASSERT_EQUAL_, m_lastSentMeasCmd, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, MRPT_END, MRPT_LOG_DEBUG_STREAM, MRPT_START, and mrpt::io::CStream::Write().
Referenced by displaySensorInfo(), displayVersionInfo(), enableSCIP20(), setHighBaudrate(), setHighSensitivityMode(), setMotorSpeed(), startScanningMode(), switchLaserOff(), and switchLaserOn().
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inlineinherited |
Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".
Definition at line 278 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::m_external_images_format.
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inlineinherited |
The quality of JPEG compression, when external images is enabled and the format is "jpg".
Definition at line 285 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.
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private |
Passes to 115200bps bitrate.
Definition at line 390 of file CHokuyoURG.cpp.
References ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_ERROR, receiveResponse(), and sendCmd().
Referenced by turnOn().
bool CHokuyoURG::setHighSensitivityMode | ( | bool | enabled | ) |
Changes the high sensitivity mode (HS) (default: false)
Definition at line 698 of file CHokuyoURG.cpp.
References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_LOG_ERROR_STREAM, receiveResponse(), sendCmd(), and mrpt::system::os::sprintf().
Referenced by turnOn().
bool CHokuyoURG::setIntensityMode | ( | bool | enabled | ) |
If true scans will capture intensity.
(default: false) Should not be called while scanning.
Definition at line 727 of file CHokuyoURG.cpp.
References m_intensity.
|
inline |
Set the ip direction and port to connect using Ethernet communication.
Definition at line 218 of file CHokuyoURG.h.
References m_ip_dir, and m_port_dir.
|
inherited |
Set the name of the COutputLogger instance.
Definition at line 127 of file COutputLogger.cpp.
Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), and mrpt::graphslam::CWindowManager::initCWindowManager().
|
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 133 of file COutputLogger.cpp.
Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), initialize(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().
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private |
Changes the motor speed in rpm's (default 600rpm)
Definition at line 661 of file CHokuyoURG.cpp.
References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_LOG_ERROR_STREAM, receiveResponse(), sendCmd(), and mrpt::system::os::sprintf().
Referenced by turnOn().
|
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.
std::exception | If the directory doesn't exists and cannot be created. |
Reimplemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::COpenNI2_RGBD360, and mrpt::hwdrivers::CSwissRanger3DCamera.
Definition at line 267 of file CGenericSensor.h.
References MRPT_UNUSED_PARAM.
|
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 230 of file CHokuyoURG.h.
References m_reduced_fov.
void CHokuyoURG::setScanInterval | ( | unsigned int | skipScanCount | ) |
Set the skip scan count (0 means send all scans).
Must be set before initialize()
Definition at line 656 of file CHokuyoURG.cpp.
References m_scan_interval.
|
inlineinherited |
Definition at line 95 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.
|
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 216 of file CHokuyoURG.h.
References m_com_port.
|
inherited |
alias of setMinLoggingLevel()
Definition at line 138 of file COutputLogger.cpp.
Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::math::ransac_detect_2D_lines().
|
inlineinherited |
Enables GUI visualization in real-time.
Definition at line 120 of file C2DRangeFinderAbstract.h.
References mrpt::hwdrivers::C2DRangeFinderAbstract::m_showPreview.
|
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.
Definition at line 859 of file CHokuyoURG.cpp.
References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), m_firstRange, m_intensity, m_lastRange, m_scan_interval, MRPT_LOG_DEBUG, MRPT_LOG_ERROR_STREAM, receiveResponse(), sendCmd(), and mrpt::system::os::sprintf().
Referenced by turnOn().
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private |
Switchs the laser off.
Definition at line 633 of file CHokuyoURG.cpp.
References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_ERROR_STREAM, receiveResponse(), and sendCmd().
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private |
Switchs the laser on.
Definition at line 610 of file CHokuyoURG.cpp.
References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_ERROR_STREAM, receiveResponse(), and sendCmd().
Referenced by turnOn().
|
virtual |
Disables the scanning mode (this can be used to turn the device in low energy mode, if available)
Implements mrpt::hwdrivers::C2DRangeFinderAbstract.
Definition at line 382 of file CHokuyoURG.cpp.
References switchLaserOff().
Referenced by ~CHokuyoURG().
|
virtual |
Enables the scanning mode (which may depend on the specific laser device); this must be called before asking for observations to assure that the protocol has been initializated.
Implements mrpt::hwdrivers::C2DRangeFinderAbstract.
Definition at line 271 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, mrpt::comms::CSerialPort::purgeBuffers(), 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(), mrpt::comms::CSerialPort::setTimeouts(), startScanningMode(), switchLaserOff(), and switchLaserOn().
Referenced by ensureStreamIsOpen(), and initialize().
|
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
Definition at line 154 of file COutputLogger.cpp.
References ASSERTMSG_, and mrpt::format().
|
inherited |
[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.
Definition at line 239 of file system/COutputLogger.h.
|
inherited |
[Default=false] Enables storing all messages into an internal list.
Definition at line 242 of file system/COutputLogger.h.
|
staticinherited |
Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.
Implementation file for the COutputLogger header class.
Handy for coloring the input based on the verbosity of the message
Definition at line 124 of file system/COutputLogger.h.
Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().
|
staticinherited |
Map from VerbosityLevels to their corresponding names.
Handy for printing the current message VerbosityLevel along with the actual content
Definition at line 129 of file system/COutputLogger.h.
Referenced by mrpt::system::COutputLogger::TMsg::getAsString().
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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 265 of file CHokuyoURG.h.
Referenced by ensureStreamIsOpen(), getSerialPort(), loadConfig_sensorSpecific(), and setSerialPort().
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privateinherited |
For being thread-safe.
Definition at line 53 of file C2DRangeFinderAbstract.h.
Referenced by mrpt::hwdrivers::C2DRangeFinderAbstract::bindIO().
|
privateinherited |
Definition at line 53 of file C2DRangeFinderAbstract.h.
Referenced by mrpt::hwdrivers::C2DRangeFinderAbstract::getObservation().
|
privateinherited |
The critical section for m_objList.
Definition at line 118 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::getObservations().
|
protected |
Definition at line 285 of file CHokuyoURG.h.
Referenced by doProcessSimple(), and loadConfig_sensorSpecific().
|
protectedinherited |
The extension ("jpg","gif","png",...) that determines the format of images saved externally.
Definition at line 157 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageFormat().
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protectedinherited |
For JPEG images, the quality (default=95%).
Definition at line 159 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality().
|
private |
The first and last ranges to consider from the scan.
Definition at line 98 of file CHokuyoURG.h.
Referenced by doProcessSimple(), startScanningMode(), and turnOn().
|
protectedinherited |
If set to N>=2, only 1 out of N observations will be saved to m_objList.
Definition at line 138 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().
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protectedinherited |
Used when "m_grab_decimation" is enabled.
Definition at line 145 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().
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privateinherited |
Definition at line 49 of file C2DRangeFinderAbstract.h.
Referenced by mrpt::hwdrivers::C2DRangeFinderAbstract::getObservation().
|
private |
High sensitivity [HS] mode (default: false)
Definition at line 110 of file CHokuyoURG.h.
Referenced by loadConfig_sensorSpecific(), and turnOn().
|
mutableprivateinherited |
Definition at line 312 of file system/COutputLogger.h.
|
protected |
Definition at line 277 of file CHokuyoURG.h.
Referenced by ensureStreamIsOpen(), and ~CHokuyoURG().
|
protected |
Get intensity from lidar scan (default: false)
Definition at line 287 of file CHokuyoURG.h.
Referenced by doProcessSimple(), loadConfig_sensorSpecific(), setIntensityMode(), and startScanningMode().
|
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 269 of file CHokuyoURG.h.
Referenced by assureBufferHasBytes(), ensureStreamIsOpen(), loadConfig_sensorSpecific(), purgeBuffers(), setIPandPort(), and turnOn().
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privateinherited |
Definition at line 47 of file C2DRangeFinderAbstract.h.
Referenced by mrpt::hwdrivers::C2DRangeFinderAbstract::getObservation().
|
privateinherited |
Definition at line 48 of file C2DRangeFinderAbstract.h.
Referenced by mrpt::hwdrivers::C2DRangeFinderAbstract::getObservation().
|
private |
Definition at line 98 of file CHokuyoURG.h.
Referenced by doProcessSimple(), startScanningMode(), and turnOn().
|
private |
The last sent measurement command (MDXXX), including the last 0x0A.
Definition at line 107 of file CHokuyoURG.h.
Referenced by receiveResponse(), and sendCmd().
|
privateinherited |
Definition at line 314 of file system/COutputLogger.h.
|
privateinherited |
Definition at line 310 of file system/COutputLogger.h.
|
privateinherited |
A list of pairs of angles <init,end> such as all sensor ranges falling in those forbiden angles will be marked as invalid.
Definition at line 64 of file C2DRangeFinderAbstract.h.
Referenced by mrpt::hwdrivers::C2DRangeFinderAbstract::filterByExclusionAngles(), and mrpt::hwdrivers::C2DRangeFinderAbstract::loadCommonParams().
|
privateinherited |
A list of optional exclusion polygons, in coordinates relative to the vehicle, that is, taking into account the "sensorPose".
Definition at line 61 of file C2DRangeFinderAbstract.h.
Referenced by mrpt::hwdrivers::C2DRangeFinderAbstract::filterByExclusionAreas(), and mrpt::hwdrivers::C2DRangeFinderAbstract::loadCommonParams().
|
protectedinherited |
See CGenericSensor.
Definition at line 135 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGenericSensor::loadConfig().
|
protectedinherited |
Provided messages with VerbosityLevel smaller than this value shall be ignored.
Definition at line 252 of file system/COutputLogger.h.
Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().
|
private |
The motor speed (default=600rpm)
Definition at line 100 of file CHokuyoURG.h.
Referenced by loadConfig_sensorSpecific(), and turnOn().
|
privateinherited |
A dynamic object used as buffer in doProcess.
Definition at line 56 of file C2DRangeFinderAbstract.h.
Referenced by mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess().
|
privateinherited |
The queue of objects to be returned by getObservations.
Definition at line 120 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), mrpt::hwdrivers::CGenericSensor::getObservations(), and mrpt::hwdrivers::CGenericSensor::~CGenericSensor().
|
protectedinherited |
The path where to save off-rawlog images: empty means save images embedded in the rawlog.
Definition at line 154 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::setPathForExternalImages().
|
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 272 of file CHokuyoURG.h.
Referenced by ensureStreamIsOpen(), loadConfig_sensorSpecific(), and setIPandPort().
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protectedinherited |
See CGenericSensor.
Definition at line 133 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGenericSensor::getProcessRate(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), and mrpt::hwdrivers::CGenericSensor::loadConfig().
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temp buffer for incoming data packets
Definition at line 252 of file CHokuyoURG.h.
Referenced by displaySensorInfo(), displayVersionInfo(), doProcessSimple(), and receiveResponse().
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Used to reduce artificially the interval of scan ranges.
Definition at line 260 of file CHokuyoURG.h.
Referenced by loadConfig_sensorSpecific(), setReducedFOV(), and turnOn().
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Auxiliary buffer for readings.
Definition at line 104 of file CHokuyoURG.h.
Referenced by assureBufferHasBytes(), and receiveResponse().
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Definition at line 288 of file CHokuyoURG.h.
Referenced by getScanInterval(), loadConfig_sensorSpecific(), setScanInterval(), and startScanningMode().
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The information gathered when the laser is first open.
Definition at line 275 of file CHokuyoURG.h.
Referenced by doProcessSimple(), and turnOn().
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See CGenericSensor.
Definition at line 140 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CCANBusReader::CCANBusReader(), mrpt::hwdrivers::CGPSInterface::CGPSInterface(), mrpt::hwdrivers::CGyroKVHDSP3000::CGyroKVHDSP3000(), CHokuyoURG(), mrpt::hwdrivers::CIMUIntersense::CIMUIntersense(), mrpt::hwdrivers::CIMUXSens::CIMUXSens(), mrpt::hwdrivers::CIMUXSens_MT4::CIMUXSens_MT4(), mrpt::hwdrivers::CKinect::CKinect(), mrpt::hwdrivers::CNationalInstrumentsDAQ::CNationalInstrumentsDAQ(), mrpt::hwdrivers::CRoboPeakLidar::CRoboPeakLidar(), mrpt::hwdrivers::CSickLaserSerial::CSickLaserSerial(), mrpt::hwdrivers::CSickLaserUSB::CSickLaserUSB(), mrpt::hwdrivers::CSkeletonTracker::CSkeletonTracker(), mrpt::hwdrivers::CSwissRanger3DCamera::CSwissRanger3DCamera(), mrpt::hwdrivers::CVelodyneScanner::CVelodyneScanner(), mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::CGenericSensor::getSensorLabel(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::hwdrivers::CGenericSensor::loadConfig(), mrpt::hwdrivers::CSkeletonTracker::processPreview(), mrpt::hwdrivers::C2DRangeFinderAbstract::processPreview(), mrpt::hwdrivers::CSkeletonTracker::processPreviewNone(), and mrpt::hwdrivers::CGenericSensor::setSensorLabel().
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The sensor 6D pose:
Definition at line 102 of file CHokuyoURG.h.
Referenced by doProcessSimple(), and loadConfig_sensorSpecific().
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If true, shows a 3D window with a preview of the grabber data.
Definition at line 67 of file C2DRangeFinderAbstract.h.
Referenced by mrpt::hwdrivers::C2DRangeFinderAbstract::loadCommonParams(), mrpt::hwdrivers::C2DRangeFinderAbstract::processPreview(), and mrpt::hwdrivers::C2DRangeFinderAbstract::showPreview().
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Definition at line 147 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGyroKVHDSP3000::CGyroKVHDSP3000(), mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), mrpt::hwdrivers::CKinect::doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::CGenericSensor::getState(), mrpt::hwdrivers::CIMUXSens_MT4::initialize(), mrpt::hwdrivers::CIMUXSens::initialize(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), mrpt::hwdrivers::CIMUIntersense::initialize(), mrpt::hwdrivers::CSkeletonTracker::initialize(), mrpt::hwdrivers::CVelodyneScanner::initialize(), mrpt::hwdrivers::CNationalInstrumentsDAQ::readFromDAQ(), and mrpt::hwdrivers::CIMUXSens::searchPortAndConnect().
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The I/O channel (will be nullptr if not bound).
Definition at line 72 of file C2DRangeFinderAbstract.h.
Referenced by assureBufferHasBytes(), mrpt::hwdrivers::C2DRangeFinderAbstract::bindIO(), ensureStreamIsOpen(), mrpt::hwdrivers::CSickLaserSerial::LMS_endContinuousMode(), mrpt::hwdrivers::CSickLaserSerial::LMS_sendMeasuringMode_cm_mm(), mrpt::hwdrivers::CSickLaserSerial::LMS_setupBaudrate(), mrpt::hwdrivers::CSickLaserSerial::LMS_setupSerialComms(), mrpt::hwdrivers::CSickLaserSerial::LMS_startContinuousMode(), mrpt::hwdrivers::CSickLaserSerial::LMS_statusQuery(), mrpt::hwdrivers::CSickLaserSerial::LMS_waitACK(), mrpt::hwdrivers::CSickLaserSerial::LMS_waitIncomingFrame(), purgeBuffers(), sendCmd(), mrpt::hwdrivers::CSickLaserSerial::SendCommandToSICK(), mrpt::hwdrivers::CSickLaserSerial::tryToOpenComms(), turnOn(), mrpt::hwdrivers::CSickLaserSerial::waitContinuousSampleFrame(), ~CHokuyoURG(), and mrpt::hwdrivers::CSickLaserSerial::~CSickLaserSerial().
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Counter to discard to first few packets before setting the correspondence between device and computer timestamps.
Definition at line 283 of file CHokuyoURG.h.
Referenced by doProcessSimple().
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Definition at line 284 of file CHokuyoURG.h.
Referenced by doProcessSimple().
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Time of the first data packet, for synchronization purposes.
Definition at line 280 of file CHokuyoURG.h.
Referenced by doProcessSimple().
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Definition at line 148 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGenericSensor::CGenericSensor(), mrpt::hwdrivers::CRoboPeakLidar::checkCOMMs(), mrpt::hwdrivers::CNTRIPEmitter::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CGenericSensor::enableVerbose(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::hwdrivers::CIMUXSens_MT4::initialize(), initialize(), mrpt::hwdrivers::CVelodyneScanner::internal_read_PCAP_packet(), mrpt::hwdrivers::CGenericSensor::isVerboseEnabled(), mrpt::hwdrivers::CGPSInterface::JAVAD_sendMessage(), mrpt::hwdrivers::CGPSInterface::legacy_topcon_setup_commands(), mrpt::hwdrivers::CSickLaserSerial::LMS_setupBaudrate(), mrpt::hwdrivers::CSickLaserSerial::LMS_setupSerialComms(), mrpt::hwdrivers::CSickLaserSerial::LMS_waitIncomingFrame(), mrpt::hwdrivers::CGPSInterface::OnConnectionEstablished(), mrpt::hwdrivers::CGPSInterface::OnConnectionShutdown(), mrpt::hwdrivers::CSickLaserSerial::SendCommandToSICK(), mrpt::hwdrivers::CNationalInstrumentsDAQ::stop(), and mrpt::hwdrivers::CGPSInterface::tryToOpenTheCOM().
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Definition at line 111 of file CHokuyoURG.h.
Referenced by ~CHokuyoURG().
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