Definition at line 20 of file CSICKTim561Eth_2050101.h.
#include <mrpt/hwdrivers/CSICKTim561Eth_2050101.h>
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 | |
CSICKTim561Eth (std::string _ip=std::string("192.168.0.1"), unsigned int _port=2111) | |
Constructor. More... | |
virtual | ~CSICKTim561Eth () |
Deconstructor. More... | |
void | doProcessSimple (bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError) |
This function acquire a laser scan from the device. More... | |
bool | turnOn () |
This method must be called before trying to get a laser scan. More... | |
bool | turnOff () |
This method could be called manually to stop communication with the device. More... | |
bool | rebootDev () |
This method could be called manually to reboot the device. More... | |
void | setSensorPose (const mrpt::poses::CPose3D &_pose) |
A method to set the sensor pose on the robot. More... | |
void | doProcess () |
This method must be called periodically. More... | |
void | initialize () |
Initialize the sensor according to the parameters previously read in the configuration file. More... | |
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... | |
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 | |
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 | 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 | |
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 | |
void | generateCmd (const char *cmd) |
bool | checkIsConnected () |
bool | decodeLogIn (char *msg) |
bool | decodeScanCfg (std::istringstream &stream) |
bool | decodeScan (char *buf, mrpt::obs::CObservation2DRangeScan &outObservation) |
void | sendCommand (const char *cmd) |
void | roughPrint (char *msg) |
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 | |
std::string | m_ip |
unsigned int | m_port |
mrpt::comms::CClientTCPSocket | m_client |
bool | m_turnedOn |
std::string | m_cmd |
bool | m_connected |
unsigned int | m_scanFrequency |
double | m_angleResolution |
double | m_startAngle |
double | m_stopAngle |
mrpt::poses::CPose3D | m_sensorPose |
double | m_maxRange |
double | m_beamApperture |
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... | |
mrpt::gui::CDisplayWindow3D::Ptr | m_win |
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.
CSICKTim561Eth::CSICKTim561Eth | ( | std::string | _ip = std::string("192.168.0.1") , |
unsigned int | _port = 2111 |
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Constructor.
Default Lidar IP: 192.168.0.1 Default IP_port: 2111 Maximum Range: 10 Meters Default SensorPose: Depend on robot(0, 270, 105)mm, orientation(0, 21.25, 0)
Note that there is default arguments, here you can customize IP Adress and TCP Port of your device
Definition at line 37 of file CSICKTim561Eth_2050101.cpp.
References mrpt::system::LVL_DEBUG.
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virtual |
Deconstructor.
Close communication with the device, and free memory.
Definition at line 51 of file CSICKTim561Eth_2050101.cpp.
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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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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 mrpt::hwdrivers::CHokuyoURG::ensureStreamIsOpen().
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private |
Definition at line 95 of file CSICKTim561Eth_2050101.cpp.
References MRPT_LOG_ERROR_FMT.
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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 |
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private |
Definition at line 393 of file CSICKTim561Eth_2050101.cpp.
References mrpt::obs::CObservation2DRangeScan::aperture, APPERTURE, mrpt::obs::CObservation2DRangeScan::beamAperture, mrpt::system::getCurrentTime(), mrpt::obs::CObservation2DRangeScan::getScanRange(), mrpt::obs::CObservation2DRangeScan::maxRange, MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, mrpt::obs::CObservation2DRangeScan::resizeScan(), mrpt::obs::CObservation2DRangeScan::rightToLeft, mrpt::obs::CObservation::sensorLabel, mrpt::obs::CObservation2DRangeScan::sensorPose, mrpt::obs::CObservation2DRangeScan::setScanRange(), mrpt::obs::CObservation2DRangeScan::setScanRangeValidity(), mrpt::obs::CObservation2DRangeScan::stdError, mrpt::system::strtok(), THROW_EXCEPTION, and mrpt::obs::CObservation::timestamp.
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private |
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virtual |
This method must be called periodically.
Period depend on the process_rate in the configuration file.
Reimplemented from mrpt::hwdrivers::C2DRangeFinderAbstract.
Definition at line 513 of file CSICKTim561Eth_2050101.cpp.
References MRPT_LOG_DEBUG, and THROW_EXCEPTION.
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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.
This | method throw exception if the frame received from the TIM 561 contain the following bad parameters:
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Implements mrpt::hwdrivers::C2DRangeFinderAbstract.
Definition at line 475 of file CSICKTim561Eth_2050101.cpp.
References MRPT_LOG_DEBUG, and MRPT_LOG_ERROR.
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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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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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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 mrpt::hwdrivers::CHokuyoURG::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 mrpt::hwdrivers::CHokuyoURG::doProcessSimple().
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private |
Definition at line 382 of file CSICKTim561Eth_2050101.cpp.
References mrpt::format(), and MRPT_LOG_ERROR.
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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.
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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().
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inherited |
Fill inputtted string with the contents of the last message in history.
Definition at line 190 of file COutputLogger.cpp.
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inherited |
Return the name of the COutputLogger instance.
Definition at line 132 of file COutputLogger.cpp.
Referenced by mrpt::system::COutputLogger::TMsg::TMsg().
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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().
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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.
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inlineinherited |
Definition at line 93 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::m_process_rate.
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pure virtualinherited |
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inlineinherited |
Definition at line 94 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.
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inlineinherited |
The current state of the sensor
Definition at line 92 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::m_state.
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virtual |
Initialize the sensor according to the parameters previously read in the configuration file.
Reimplemented from mrpt::hwdrivers::CGenericSensor.
Definition at line 58 of file CSICKTim561Eth_2050101.cpp.
References THROW_EXCEPTION.
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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().
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inlineinherited |
Definition at line 106 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::m_verbose.
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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 mrpt::hwdrivers::CHokuyoURG::loadConfig_sensorSpecific().
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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().
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protectedvirtual |
Load sensor pose on the robot, or keep the default sensor pose.
Implements mrpt::hwdrivers::CGenericSensor.
Definition at line 70 of file CSICKTim561Eth_2050101.cpp.
References mrpt::DEG2RAD(), mrpt::config::CConfigFileBase::read_float(), mrpt::config::CConfigFileBase::read_int(), and mrpt::config::CConfigFileBase::read_string().
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inherited |
Log the given message only if the condition is satisfied.
Definition at line 120 of file COutputLogger.cpp.
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inherited |
Definition at line 287 of file COutputLogger.cpp.
References getAddress().
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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().
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inherited |
Reset the contents of the logger instance.
Called upon construction.
Definition at line 195 of file COutputLogger.cpp.
References mrpt::system::LVL_INFO.
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inherited |
Definition at line 274 of file COutputLogger.cpp.
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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 mrpt::hwdrivers::CHokuyoURG::doProcessSimple().
bool CSICKTim561Eth::rebootDev | ( | ) |
This method could be called manually to reboot the device.
Definition at line 119 of file CSICKTim561Eth_2050101.cpp.
References MRPT_LOG_DEBUG_FMT, and MRPT_LOG_ERROR.
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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().
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Definition at line 373 of file CSICKTim561Eth_2050101.cpp.
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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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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().
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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(), mrpt::hwdrivers::CHokuyoURG::initialize(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().
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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.
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inlineinherited |
Definition at line 95 of file CGenericSensor.h.
References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.
void CSICKTim561Eth::setSensorPose | ( | const mrpt::poses::CPose3D & | _pose | ) |
A method to set the sensor pose on the robot.
Equivalent to setting the sensor pose via loading it from a config file.
Definition at line 546 of file CSICKTim561Eth_2050101.cpp.
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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().
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inlineinherited |
Enables GUI visualization in real-time.
Definition at line 120 of file C2DRangeFinderAbstract.h.
References mrpt::hwdrivers::C2DRangeFinderAbstract::m_showPreview.
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virtual |
This method could be called manually to stop communication with the device.
Method is also called by destructor.
Implements mrpt::hwdrivers::C2DRangeFinderAbstract.
Definition at line 160 of file CSICKTim561Eth_2050101.cpp.
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virtual |
This method must be called before trying to get a laser scan.
From the SICK TIM561 datasheet:
Init scanner
End Init Scanner
Set Freq and Resolution
Set scandatacfg
Set send data permanently
Implements mrpt::hwdrivers::C2DRangeFinderAbstract.
Definition at line 168 of file CSICKTim561Eth_2050101.cpp.
References MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_LOG_ERROR, and MRPT_LOG_ERROR_FMT.
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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().
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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.
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inherited |
[Default=false] Enables storing all messages into an internal list.
Definition at line 242 of file system/COutputLogger.h.
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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().
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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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Definition at line 91 of file CSICKTim561Eth_2050101.h.
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private |
Definition at line 96 of file CSICKTim561Eth_2050101.h.
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private |
Definition at line 86 of file CSICKTim561Eth_2050101.h.
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Definition at line 88 of file CSICKTim561Eth_2050101.h.
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Definition at line 89 of file CSICKTim561Eth_2050101.h.
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privateinherited |
For being thread-safe.
Definition at line 53 of file C2DRangeFinderAbstract.h.
Referenced by mrpt::hwdrivers::C2DRangeFinderAbstract::bindIO().
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privateinherited |
Definition at line 53 of file C2DRangeFinderAbstract.h.
Referenced by mrpt::hwdrivers::C2DRangeFinderAbstract::getObservation().
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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().
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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().
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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().
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mutableprivateinherited |
Definition at line 312 of file system/COutputLogger.h.
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private |
Definition at line 84 of file CSICKTim561Eth_2050101.h.
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privateinherited |
Definition at line 47 of file C2DRangeFinderAbstract.h.
Referenced by mrpt::hwdrivers::C2DRangeFinderAbstract::getObservation().
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privateinherited |
Definition at line 48 of file C2DRangeFinderAbstract.h.
Referenced by mrpt::hwdrivers::C2DRangeFinderAbstract::getObservation().
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privateinherited |
Definition at line 314 of file system/COutputLogger.h.
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privateinherited |
Definition at line 310 of file system/COutputLogger.h.
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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().
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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().
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protectedinherited |
See CGenericSensor.
Definition at line 135 of file CGenericSensor.h.
Referenced by mrpt::hwdrivers::CGenericSensor::loadConfig().
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Definition at line 95 of file CSICKTim561Eth_2050101.h.
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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().
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privateinherited |
A dynamic object used as buffer in doProcess.
Definition at line 56 of file C2DRangeFinderAbstract.h.
Referenced by mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess().
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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().
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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().
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Definition at line 85 of file CSICKTim561Eth_2050101.h.
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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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Definition at line 90 of file CSICKTim561Eth_2050101.h.
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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().
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Definition at line 94 of file CSICKTim561Eth_2050101.h.
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privateinherited |
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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private |
Definition at line 92 of file CSICKTim561Eth_2050101.h.
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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().
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Definition at line 93 of file CSICKTim561Eth_2050101.h.
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protectedinherited |
The I/O channel (will be nullptr if not bound).
Definition at line 72 of file C2DRangeFinderAbstract.h.
Referenced by mrpt::hwdrivers::CHokuyoURG::assureBufferHasBytes(), mrpt::hwdrivers::C2DRangeFinderAbstract::bindIO(), mrpt::hwdrivers::CHokuyoURG::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(), mrpt::hwdrivers::CHokuyoURG::purgeBuffers(), mrpt::hwdrivers::CHokuyoURG::sendCmd(), mrpt::hwdrivers::CSickLaserSerial::SendCommandToSICK(), mrpt::hwdrivers::CSickLaserSerial::tryToOpenComms(), mrpt::hwdrivers::CHokuyoURG::turnOn(), mrpt::hwdrivers::CSickLaserSerial::waitContinuousSampleFrame(), mrpt::hwdrivers::CHokuyoURG::~CHokuyoURG(), and mrpt::hwdrivers::CSickLaserSerial::~CSickLaserSerial().
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Definition at line 87 of file CSICKTim561Eth_2050101.h.
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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().
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privateinherited |
Definition at line 68 of file C2DRangeFinderAbstract.h.
Referenced by mrpt::hwdrivers::C2DRangeFinderAbstract::processPreview().
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