mrpt::hwdrivers::CIbeoLuxETH Class Reference

Detailed Description

This "software driver" implements the communication protocol for interfacing a Ibeo Lux laser scanners through an ethernet controller.

This class does not need to be bind, i.e. you do not need to call C2DRangeFinderAbstract::bindIO. Connection is established when user call the turnOn() method. You can pass to the class's constructor the Lux's ip address and port. Device will NOT be configured. Configuration has to be done seperately.

To get a laser scan you must proceed like that :

CIbeoLuxETH laser(string("192.168.0.10"), 1234);
laser.turnOn();
bool isOutObs, hardwareError;
CObservation2DRangeScan outObs;
laser.doProcessSimple(isOutObs, outObs, hardwareError);

Note

This class was contributed by Adrien Barral - Robopec (France)

And modified by Jan Girlich - University of Hamburg

Definition at line 45 of file CIbeoLuxETH.h.

#include <mrpt/hwdrivers/CIbeoLuxETH.h>

Inheritance diagram for mrpt::hwdrivers::CIbeoLuxETH:

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
	CIbeoLuxETH (std::string _ip=std::string("10.152.36.93"), unsigned int _port=12002)
	Constructor. More...
virtual	~CIbeoLuxETH ()
	Destructor. More...
void	doProcess ()
	This function acquire a laser scan from the device. More...
void	initialize ()
	This method can or cannot be implemented in the derived class, depending on the need for it. More...
void	start ()
void	makeCommandHeader (unsigned char *buffer)
void	makeStartCommand (unsigned char *buffer)
void	makeStopCommand (unsigned char *buffer)
void	makeTypeCommand (unsigned char *buffer)
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 (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...

Protected Member Functions
void	loadConfig_sensorSpecific (const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection)
	Load sensor pose on the robot, or keep the default sensor pose. 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
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
void	dataCollection ()
double	convertLayerToRad (int scanlayer)
double	convertTicksToHRad (int hticks, int hticksPerRotation)
mrpt::poses::CPoint3D	convertToCartesian (float vrad, float hrad, float distance)

Static Private Member Functions
static registered_sensor_classes_t &	get_registered_sensor_classes ()
	Access to singleton. More...

Private Attributes
std::string	m_ip
unsigned int	m_port
mrpt::comms::CClientTCPSocket	m_client
unsigned int	m_scanFrequency
double	m_angleResolution
double	m_startAngle
double	m_stopAngle
mrpt::poses::CPose3D	m_sensorPose
double	m_maxRange
double	m_beamApperture
bool	m_run
std::thread	dataCollectionThread
float	vwinkel
std::vector< mrpt::obs::CObservation3DRangeScan >	m_observations
bool	m_newObs
float	m_vAngle
unsigned int	lastScanNumber
unsigned int	curScanNumber
std::mutex	m_csObjList
	The critical section for m_objList. More...
TListObservations	m_objList
	The queue of objects to be returned by getObservations. More...

Member Typedef Documentation

Ptr

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

inherited

Definition at line 73 of file CGenericSensor.h.

registered_sensor_classes_t

using mrpt::hwdrivers::CGenericSensor::registered_sensor_classes_t = std::map<std::string, const TSensorClassId*>

privateinherited

Used in registerClass.

Definition at line 124 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

Definition at line 84 of file CGenericSensor.h.

Constructor & Destructor Documentation

CIbeoLuxETH()

CIbeoLuxETH::CIbeoLuxETH	(	std::string	_ip = std::string("10.152.36.93"),
		unsigned int	_port = 12002
	)

Constructor.

Note that there is default arguments, here you can customize IP Adress and TCP Port of your device.

Definition at line 36 of file CIbeoLuxETH.cpp.

~CIbeoLuxETH()

CIbeoLuxETH::~CIbeoLuxETH ( )

virtual

Destructor.

Close communcation with the device, and free memory.

Definition at line 46 of file CIbeoLuxETH.cpp.

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 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().

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 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().

convertLayerToRad()

double CIbeoLuxETH::convertLayerToRad ( int  scanlayer )

private

Definition at line 242 of file CIbeoLuxETH.cpp.

convertTicksToHRad()

double CIbeoLuxETH::convertTicksToHRad ( int  hticks, int  hticksPerRotation  )

private

Definition at line 237 of file CIbeoLuxETH.cpp.

References M_PI.

convertToCartesian()

CPoint3D CIbeoLuxETH::convertToCartesian ( float  vrad, float  hrad, float  distance  )

private

Definition at line 219 of file CIbeoLuxETH.cpp.

References mrpt::math::distance(), and M_PI.

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 103 of file CGenericSensor.cpp.

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

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

createSensorPtr()

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

inlinestaticinherited

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

Definition at line 219 of file CGenericSensor.h.

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

dataCollection()

void CIbeoLuxETH::dataCollection ( )

private

Definition at line 56 of file CIbeoLuxETH.cpp.

References PacketFound, SaveData, SearchForAF, SearchForC0, SearchForC2, SearchForFE, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

doProcess()

void CIbeoLuxETH::doProcess ( )

virtual

This function acquire a laser scan from the device.

If an error occured, hardwareError will be set to true. The new laser scan will be stored in the outObservation argument.

Exceptions

This	method throw exception if the frame received from the LMS 100 contain the following bad parameters : Status is not OK Data in the scan aren't DIST1 (may be RSSIx or DIST2).

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 376 of file CIbeoLuxETH.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 105 of file CGenericSensor.h.

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

get_registered_sensor_classes()

CGenericSensor::registered_sensor_classes_t & CGenericSensor::get_registered_sensor_classes ( )

staticprivateinherited

Access to singleton.

Definition at line 112 of file CGenericSensor.cpp.

Referenced by mrpt::hwdrivers::CGenericSensor::createSensor(), and mrpt::hwdrivers::CGenericSensor::registerClass().

getExternalImageJPEGQuality()

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

inlineinherited

Definition at line 289 of file CGenericSensor.h.

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

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 91 of file CGenericSensor.cpp.

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

getProcessRate()

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

inlineinherited

Definition at line 93 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 94 of file CGenericSensor.h.

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

getState()

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

inlineinherited

The current state of the sensor

Definition at line 92 of file CGenericSensor.h.

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

initialize()

void CIbeoLuxETH::initialize ( )

virtual

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

Exceptions

This	method must throw an exception with a descriptive message if some critical error is found.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 362 of file CIbeoLuxETH.cpp.

isVerboseEnabled()

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

inlineinherited

Definition at line 106 of file CGenericSensor.h.

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

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 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().

loadConfig_sensorSpecific()

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

protectedvirtual

Load sensor pose on the robot, or keep the default sensor pose.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 270 of file CIbeoLuxETH.cpp.

References mrpt::DEG2RAD(), and mrpt::config::CConfigFileBase::read_float().

makeCommandHeader()

void CIbeoLuxETH::makeCommandHeader

(

unsigned char *

buffer

)

Definition at line 291 of file CIbeoLuxETH.cpp.

makeStartCommand()

void CIbeoLuxETH::makeStartCommand

(

unsigned char *

buffer

)

Definition at line 320 of file CIbeoLuxETH.cpp.

makeStopCommand()

void CIbeoLuxETH::makeStopCommand

(

unsigned char *

buffer

)

Definition at line 331 of file CIbeoLuxETH.cpp.

makeTypeCommand()

void CIbeoLuxETH::makeTypeCommand

(

unsigned char *

buffer

)

Definition at line 342 of file CIbeoLuxETH.cpp.

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 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().

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 278 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 285 of file CGenericSensor.h.

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

setPathForExternalImages()

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

inlinevirtualinherited

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

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

Exceptions

std::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.

setSensorLabel()

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

inlineinherited

Definition at line 95 of file CGenericSensor.h.

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

start()

void mrpt::hwdrivers::CIbeoLuxETH::start

(

)

Member Data Documentation

curScanNumber

unsigned int mrpt::hwdrivers::CIbeoLuxETH::curScanNumber

private

Definition at line 101 of file CIbeoLuxETH.h.

dataCollectionThread

std::thread mrpt::hwdrivers::CIbeoLuxETH::dataCollectionThread

private

Definition at line 91 of file CIbeoLuxETH.h.

lastScanNumber

unsigned int mrpt::hwdrivers::CIbeoLuxETH::lastScanNumber

private

Definition at line 100 of file CIbeoLuxETH.h.

m_angleResolution

double mrpt::hwdrivers::CIbeoLuxETH::m_angleResolution

private

Definition at line 83 of file CIbeoLuxETH.h.

m_beamApperture

double mrpt::hwdrivers::CIbeoLuxETH::m_beamApperture

private

Definition at line 88 of file CIbeoLuxETH.h.

m_client

mrpt::comms::CClientTCPSocket mrpt::hwdrivers::CIbeoLuxETH::m_client

private

Definition at line 81 of file CIbeoLuxETH.h.

m_csObjList

std::mutex mrpt::hwdrivers::CGenericSensor::m_csObjList

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().

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 157 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

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().

m_grab_decimation

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation

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().

m_grab_decimation_counter

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter

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().

m_ip

std::string mrpt::hwdrivers::CIbeoLuxETH::m_ip

private

Definition at line 79 of file CIbeoLuxETH.h.

m_max_queue_len

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len

protectedinherited

See CGenericSensor.

Definition at line 135 of file CGenericSensor.h.

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

m_maxRange

double mrpt::hwdrivers::CIbeoLuxETH::m_maxRange

private

Definition at line 87 of file CIbeoLuxETH.h.

m_newObs

bool mrpt::hwdrivers::CIbeoLuxETH::m_newObs

private

Definition at line 98 of file CIbeoLuxETH.h.

m_objList

TListObservations mrpt::hwdrivers::CGenericSensor::m_objList

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().

m_observations

std::vector<mrpt::obs::CObservation3DRangeScan> mrpt::hwdrivers::CIbeoLuxETH::m_observations

private

Definition at line 97 of file CIbeoLuxETH.h.

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 154 of file CGenericSensor.h.

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

m_port

unsigned int mrpt::hwdrivers::CIbeoLuxETH::m_port

private

Definition at line 80 of file CIbeoLuxETH.h.

m_process_rate

double mrpt::hwdrivers::CGenericSensor::m_process_rate

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().

m_run

bool mrpt::hwdrivers::CIbeoLuxETH::m_run

private

Definition at line 89 of file CIbeoLuxETH.h.

m_scanFrequency

unsigned int mrpt::hwdrivers::CIbeoLuxETH::m_scanFrequency

private

Definition at line 82 of file CIbeoLuxETH.h.

m_sensorLabel

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

protectedinherited

See CGenericSensor.

Definition at line 140 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CCANBusReader::CCANBusReader(), mrpt::hwdrivers::CGPSInterface::CGPSInterface(), mrpt::hwdrivers::CGyroKVHDSP3000::CGyroKVHDSP3000(), mrpt::hwdrivers::CHokuyoURG::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(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::CGenericSensor::getSensorLabel(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::hwdrivers::CGenericSensor::loadConfig(), mrpt::hwdrivers::CSkeletonTracker::processPreview(), mrpt::hwdrivers::C2DRangeFinderAbstract::processPreview(), mrpt::hwdrivers::CSkeletonTracker::processPreviewNone(), and mrpt::hwdrivers::CGenericSensor::setSensorLabel().

m_sensorPose

mrpt::poses::CPose3D mrpt::hwdrivers::CIbeoLuxETH::m_sensorPose

private

Definition at line 86 of file CIbeoLuxETH.h.

m_startAngle

double mrpt::hwdrivers::CIbeoLuxETH::m_startAngle

private

Definition at line 84 of file CIbeoLuxETH.h.

m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state

protectedinherited

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(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::CGenericSensor::getState(), mrpt::hwdrivers::CIMUXSens_MT4::initialize(), mrpt::hwdrivers::CIMUXSens::initialize(), mrpt::hwdrivers::CIMUIntersense::initialize(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), mrpt::hwdrivers::CSkeletonTracker::initialize(), mrpt::hwdrivers::CVelodyneScanner::initialize(), mrpt::hwdrivers::CNationalInstrumentsDAQ::readFromDAQ(), and mrpt::hwdrivers::CIMUXSens::searchPortAndConnect().

m_stopAngle

double mrpt::hwdrivers::CIbeoLuxETH::m_stopAngle

private

Definition at line 85 of file CIbeoLuxETH.h.

m_vAngle

float mrpt::hwdrivers::CIbeoLuxETH::m_vAngle

private

Definition at line 99 of file CIbeoLuxETH.h.

m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose

protectedinherited

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(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::hwdrivers::CVelodyneScanner::internal_read_PCAP_packet(), mrpt::hwdrivers::CGenericSensor::isVerboseEnabled(), mrpt::hwdrivers::CGPSInterface::JAVAD_sendMessage(), mrpt::hwdrivers::CGPSInterface::legacy_topcon_setup_commands(), mrpt::hwdrivers::CSickLaserSerial::LMS_setupBaudrate(), mrpt::hwdrivers::CSickLaserSerial::LMS_setupSerialComms(), mrpt::hwdrivers::CSickLaserSerial::LMS_waitIncomingFrame(), mrpt::hwdrivers::CGPSInterface::OnConnectionEstablished(), mrpt::hwdrivers::CGPSInterface::OnConnectionShutdown(), mrpt::hwdrivers::CSickLaserSerial::SendCommandToSICK(), mrpt::hwdrivers::CNationalInstrumentsDAQ::stop(), and mrpt::hwdrivers::CGPSInterface::tryToOpenTheCOM().

vwinkel

float mrpt::hwdrivers::CIbeoLuxETH::vwinkel

private

Definition at line 96 of file CIbeoLuxETH.h.