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mrpt::hwdrivers::CIbeoLuxETH Class Referenceabstract

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 40 of file CIbeoLuxETH.h.

#include <mrpt/hwdrivers/CIbeoLuxETH.h>

Inheritance diagram for mrpt::hwdrivers::CIbeoLuxETH:
Inheritance graph

Public Types

enum  TSensorState { ssInitializing = 0, ssWorking, ssError }
 The current state of the sensor. More...
 
typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > TListObservations
 
typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > TListObsPair
 
typedef CGenericSensorPtr Ptr
 
typedef stlplus::smart_ptr< const CGenericSensorConstPtr
 

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::TSensorClassIdGetRuntimeClass () 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::utils::CConfigFileBase &configSource, const std::string &section)
 Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific"

Exceptions
Thismethod throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.
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 CGenericSensorcreateSensor (const std::string &className)
 Creates a sensor by a name of the class. More...
 
static CGenericSensorPtr 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::utils::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::utils::CSerializablePtr > &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::utils::CSerializablePtr &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...
 
Common settings to any sensor, loaded in "loadConfig"
double m_process_rate
 See CGenericSensor. More...
 
size_t m_max_queue_len
 See CGenericSensor. More...
 
size_t m_grab_decimation
 If set to N>=2, only 1 out of N observations will be saved to m_objList. More...
 
std::string m_sensorLabel
 See CGenericSensor. More...
 

Private Member Functions

void dataCollection ()
 
double convertLayerToRad (int scanlayer)
 
double convertTicksToHRad (int hticks, int hticksPerRotation)
 
mrpt::poses::CPoint3D convertToCartesian (float vrad, float hrad, float distance)
 

Private Attributes

std::string m_ip
 
unsigned int m_port
 
mrpt::utils::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
 
mrpt::system::TThreadHandle dataCollectionThread
 
float vwinkel
 
std::vector< mrpt::obs::CObservation3DRangeScanm_observations
 
bool m_newObs
 
float m_vAngle
 
unsigned int lastScanNumber
 
unsigned int curScanNumber
 

Member Typedef Documentation

typedef stlplus::smart_ptr<const CGenericSensor> mrpt::hwdrivers::CGenericSensor::ConstPtr
inherited

Definition at line 103 of file CGenericSensor.h.

Definition at line 102 of file CGenericSensor.h.

typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObservations
inherited

Definition at line 68 of file CGenericSensor.h.

typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObsPair
inherited

Definition at line 69 of file CGenericSensor.h.

Member Enumeration Documentation

The current state of the sensor.

See also
CGenericSensor::getState
Enumerator
ssInitializing 
ssWorking 
ssError 

Definition at line 74 of file CGenericSensor.h.

Constructor & Destructor Documentation

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 37 of file CIbeoLuxETH.cpp.

CIbeoLuxETH::~CIbeoLuxETH ( )
virtual

Destructor.

Close communcation with the device, and free memory.

Definition at line 47 of file CIbeoLuxETH.cpp.

References mrpt::system::joinThread(), and mrpt::system::sleep().

Member Function Documentation

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::utils::CSerializablePtr &  obj)
inlineprotectedinherited
void CGenericSensor::appendObservations ( const std::vector< mrpt::utils::CSerializablePtr > &  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::CObservationGPSPtr o = CObservationGPSPtr( new CObservationGPS() );
o-> .... // Set data

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::CNationalInstrumentsDAQ::doProcess(), and mrpt::hwdrivers::CKinect::doProcess().

double CIbeoLuxETH::convertLayerToRad ( int  scanlayer)
private

Definition at line 221 of file CIbeoLuxETH.cpp.

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

Definition at line 216 of file CIbeoLuxETH.cpp.

References M_PI.

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

Definition at line 198 of file CIbeoLuxETH.cpp.

References M_PI.

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:

Returns
A pointer to a new class, or NULL if class name is unknown.

Definition at line 103 of file CGenericSensor.cpp.

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

static CGenericSensorPtr 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 180 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor.

void CIbeoLuxETH::dataCollection ( )
private
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
Thismethod 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 347 of file CIbeoLuxETH.cpp.

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 92 of file CGenericSensor.h.

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

Definition at line 234 of file CGenericSensor.h.

References MRPT_MAKE_ALIGNED_OPERATOR_NEW.

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 90 of file CGenericSensor.cpp.

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

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

Definition at line 84 of file CGenericSensor.h.

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const
pure virtualinherited
std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const
inlineinherited

Definition at line 86 of file CGenericSensor.h.

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

The current state of the sensor.

Definition at line 82 of file CGenericSensor.h.

void CIbeoLuxETH::initialize ( void  )
virtual

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

Exceptions
Thismethod must throw an exception with a descriptive message if some critical error is found.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 334 of file CIbeoLuxETH.cpp.

References mrpt::system::createThreadFromObjectMethod().

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

Definition at line 93 of file CGenericSensor.h.

References mrpt::utils::registerClass().

void CGenericSensor::loadConfig ( const mrpt::utils::CConfigFileBase configSource,
const std::string section 
)
inherited
void CIbeoLuxETH::loadConfig_sensorSpecific ( const mrpt::utils::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 248 of file CIbeoLuxETH.cpp.

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

void CIbeoLuxETH::makeCommandHeader ( unsigned char *  buffer)

Definition at line 265 of file CIbeoLuxETH.cpp.

void CIbeoLuxETH::makeStartCommand ( unsigned char *  buffer)

Definition at line 294 of file CIbeoLuxETH.cpp.

void CIbeoLuxETH::makeStopCommand ( unsigned char *  buffer)

Definition at line 305 of file CIbeoLuxETH.cpp.

void CIbeoLuxETH::makeTypeCommand ( unsigned char *  buffer)

Definition at line 316 of file CIbeoLuxETH.cpp.

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 120 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 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 226 of file CGenericSensor.h.

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 231 of file CGenericSensor.h.

References quality.

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::exceptionIf 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 217 of file CGenericSensor.h.

References MRPT_UNUSED_PARAM.

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

Definition at line 87 of file CGenericSensor.h.

void mrpt::hwdrivers::CIbeoLuxETH::start ( )

Member Data Documentation

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

Definition at line 90 of file CIbeoLuxETH.h.

mrpt::system::TThreadHandle mrpt::hwdrivers::CIbeoLuxETH::dataCollectionThread
private

Definition at line 81 of file CIbeoLuxETH.h.

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

Definition at line 89 of file CIbeoLuxETH.h.

double mrpt::hwdrivers::CIbeoLuxETH::m_angleResolution
private

Definition at line 73 of file CIbeoLuxETH.h.

double mrpt::hwdrivers::CIbeoLuxETH::m_beamApperture
private

Definition at line 78 of file CIbeoLuxETH.h.

mrpt::utils::CClientTCPSocket mrpt::hwdrivers::CIbeoLuxETH::m_client
private

Definition at line 71 of file CIbeoLuxETH.h.

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 131 of file CGenericSensor.h.

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

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality
protectedinherited

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

Definition at line 132 of file CGenericSensor.h.

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

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 118 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter
protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 123 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

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

Definition at line 69 of file CIbeoLuxETH.h.

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len
protectedinherited

See CGenericSensor.

Definition at line 117 of file CGenericSensor.h.

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

double mrpt::hwdrivers::CIbeoLuxETH::m_maxRange
private

Definition at line 77 of file CIbeoLuxETH.h.

bool mrpt::hwdrivers::CIbeoLuxETH::m_newObs
private

Definition at line 87 of file CIbeoLuxETH.h.

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

Definition at line 86 of file CIbeoLuxETH.h.

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 130 of file CGenericSensor.h.

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

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

Definition at line 70 of file CIbeoLuxETH.h.

double mrpt::hwdrivers::CGenericSensor::m_process_rate
protectedinherited
bool mrpt::hwdrivers::CIbeoLuxETH::m_run
private

Definition at line 79 of file CIbeoLuxETH.h.

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

Definition at line 72 of file CIbeoLuxETH.h.

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

See CGenericSensor.

Definition at line 119 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CCANBusReader::CCANBusReader(), mrpt::hwdrivers::CGPSInterface::CGPSInterface(), 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::CSkeletonTracker::CSkeletonTracker(), mrpt::hwdrivers::CSwissRanger3DCamera::CSwissRanger3DCamera(), mrpt::hwdrivers::CVelodyneScanner::CVelodyneScanner(), mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::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::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::hwdrivers::CGenericSensor::loadConfig(), mrpt::hwdrivers::CSkeletonTracker::processPreview(), mrpt::hwdrivers::C2DRangeFinderAbstract::processPreview(), and mrpt::hwdrivers::CSkeletonTracker::processPreviewNone().

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

Definition at line 76 of file CIbeoLuxETH.h.

double mrpt::hwdrivers::CIbeoLuxETH::m_startAngle
private

Definition at line 74 of file CIbeoLuxETH.h.

TSensorState mrpt::hwdrivers::CGenericSensor::m_state
protectedinherited
double mrpt::hwdrivers::CIbeoLuxETH::m_stopAngle
private

Definition at line 75 of file CIbeoLuxETH.h.

float mrpt::hwdrivers::CIbeoLuxETH::m_vAngle
private

Definition at line 88 of file CIbeoLuxETH.h.

bool mrpt::hwdrivers::CGenericSensor::m_verbose
protectedinherited
float mrpt::hwdrivers::CIbeoLuxETH::vwinkel
private

Definition at line 85 of file CIbeoLuxETH.h.




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