Definition at line 38 of file CPtuHokuyo.h.
#include <mrpt/hwdrivers/CPtuHokuyo.h>
Classes | |
struct | my_pos |
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 |
Public Member Functions | |
CPtuHokuyo () | |
Default constructor. More... | |
~CPtuHokuyo () | |
Destructor, delete observations of the vector. More... | |
bool | init (const std::string &portPtu, const std::string &portHokuyo) |
Initialization of laser and ptu. More... | |
bool | scan (char &axis, const int &tWait, double &initial, double &final, const double &radPre, const int &mean, const bool &interlaced=false) |
Performs a complete scan. More... | |
bool | continuousScan (char &axis, const double &velocity, double &initial, double &final) |
Performs a continuous scan. More... | |
bool | saveVObs2File (const char *fname="Data.rawlog") |
Show a graphic with the points obtained from the scan or a map. More... | |
bool | saveVObsPoints2File (const char *fname="Data.pts", const bool &colours=false) |
Save vector points of observations into a simple file. More... | |
bool | savePitchAndDistances2File () |
Save pitchs and raw distances of all scans. More... | |
void | setHigh (const double &newHigh) |
Method for limit map points obtained from a scan. More... | |
bool | obtainObs (mrpt::obs::CObservation2DRangeScan &obs) |
Obtain a observation from the laser. More... | |
void | initialize () |
This method can or cannot be implemented in the derived class, depending on the need for it. More... | |
void | doProcess () |
This method will be invoked at a minimum rate of "process_rate" (Hz) 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::utils::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 CGenericSensorPtr | createSensorPtr (const std::string &className) |
Just like createSensor, but returning a smart pointer to the newly created sensor object. More... | |
Public Attributes | |
CHokuyoURG | laser |
CPtuBase * | ptu |
int | m_ptu_type |
Specify type of ptu. More... | |
std::vector< mrpt::obs::CObservation2DRangeScan > | vObs |
double | high |
std::vector< mrpt::hwdrivers::CPtuHokuyo::my_pos > | v_my_pos |
std::vector< double > | v_ptu_pos |
std::vector< double > | v_ptu_time |
Protected Member Functions | |
void | loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string §ion) |
See the class documentation at the top for expected parameters. 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 | |
std::string | m_ptu_port |
char | m_axis |
double | m_velocity |
double | m_initial |
double | m_final |
double | m_hokuyo_frec |
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 | |
double | saveObservation (const char &axis, const int &mean) |
Save a observation from the laser into a vector of observations, calculating sensor position. More... | |
bool | singleScan (const char &axis, const int &tWait, const int &movements, const double &radPre, const int &mean) |
Performs a simple scan. More... | |
int | minLengthVectors (mrpt::obs::CObservation2DRangeScan &obs, std::vector< mrpt::obs::CObservation2DRangeScan > &vObsAux) |
Calculate minimum lenght of scan vectors. More... | |
int | minLengthVectors (mrpt::obs::CObservation2DRangeScan &obs1, mrpt::obs::CObservation2DRangeScan &obs2, const int &mode) |
Calculate minimum lenght of 2 scan vectors. More... | |
void | refineVObs (const char &axis) |
Load observations in a points map. More... | |
void | calculateSensorPose (const char &axis, const double &pos, mrpt::obs::CObservation2DRangeScan &obs) |
Calculate the sensor pose depending teh axis of movements and the ptu position. More... | |
int | obsPosition () |
Obtain position of observations between first and second position in m_my_pos map. More... | |
Private Attributes | |
synch::CCriticalSection | m_csObjList |
The critical section for m_objList. More... | |
TListObservations | m_objList |
The queue of objects to be returned by getObservations. More... | |
Static Private Attributes | |
static std::map< std::string, const TSensorClassId * > | m_knownClasses |
Used in registerClass. More... | |
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inherited |
Definition at line 68 of file CGenericSensor.h.
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inherited |
Definition at line 69 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 74 of file CGenericSensor.h.
mrpt::hwdrivers::CPtuHokuyo::CPtuHokuyo | ( | ) |
Default constructor.
mrpt::hwdrivers::CPtuHokuyo::~CPtuHokuyo | ( | ) |
Destructor, delete observations of the vector.
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inlineprotectedinherited |
Like appendObservations() but for just one observation.
Definition at line 146 of file CGenericSensor.h.
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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.
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private |
Calculate the sensor pose depending teh axis of movements and the ptu position.
bool mrpt::hwdrivers::CPtuHokuyo::continuousScan | ( | char & | axis, |
const double & | velocity, | ||
double & | initial, | ||
double & | final | ||
) |
Performs a continuous scan.
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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:
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inlinestaticinherited |
Just like createSensor, but returning a smart pointer to the newly created sensor object.
Definition at line 179 of file CGenericSensor.h.
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virtual |
This method will be invoked at a minimum rate of "process_rate" (Hz)
This | method must throw an exception with a descriptive message if some critical error is found. |
Implements mrpt::hwdrivers::CGenericSensor.
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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 92 of file CGenericSensor.h.
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inlineinherited |
Definition at line 233 of file CGenericSensor.h.
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inherited |
Returns a list of enqueued objects, emptying it (thread-safe).
The objects must be freed by the invoker.
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inlineinherited |
Definition at line 84 of file CGenericSensor.h.
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pure virtualinherited |
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inlineinherited |
Definition at line 86 of file CGenericSensor.h.
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inlineinherited |
The current state of the sensor
Definition at line 82 of file CGenericSensor.h.
bool mrpt::hwdrivers::CPtuHokuyo::init | ( | const std::string & | portPtu, |
const std::string & | portHokuyo | ||
) |
Initialization of laser and ptu.
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virtual |
This method can or cannot be implemented in the derived class, depending on the need for it.
This | method must throw an exception with a descriptive message if some critical error is found. |
Reimplemented from mrpt::hwdrivers::CGenericSensor.
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inlineinherited |
Definition at line 93 of file CGenericSensor.h.
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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. |
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protectedvirtual |
See the class documentation at the top for expected parameters.
Implements mrpt::hwdrivers::CGenericSensor.
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private |
Calculate minimum lenght of scan vectors.
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private |
Calculate minimum lenght of 2 scan vectors.
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private |
Obtain position of observations between first and second position in m_my_pos map.
bool mrpt::hwdrivers::CPtuHokuyo::obtainObs | ( | mrpt::obs::CObservation2DRangeScan & | obs | ) |
Obtain a observation from the laser.
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private |
Load observations in a points map.
Limit the valid position of scan points Refine the observations obtains from a continuous scan
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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.
Referenced by mrpt::hwdrivers::CGenericSensor::CLASSINIT_GENERIC_SENSOR::CLASSINIT_GENERIC_SENSOR().
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private |
Save a observation from the laser into a vector of observations, calculating sensor position.
bool mrpt::hwdrivers::CPtuHokuyo::savePitchAndDistances2File | ( | ) |
Save pitchs and raw distances of all scans.
bool mrpt::hwdrivers::CPtuHokuyo::saveVObs2File | ( | const char * | fname = "Data.rawlog" | ) |
Show a graphic with the points obtained from the scan or a map.
Save a simple points map into a simple file (if colours==true save points with a color) Save vector of observations in a CFileOutputStream file
bool mrpt::hwdrivers::CPtuHokuyo::saveVObsPoints2File | ( | const char * | fname = "Data.pts" , |
const bool & | colours = false |
||
) |
Save vector points of observations into a simple file.
bool mrpt::hwdrivers::CPtuHokuyo::scan | ( | char & | axis, |
const int & | tWait, | ||
double & | initial, | ||
double & | final, | ||
const double & | radPre, | ||
const int & | mean, | ||
const bool & | interlaced = false |
||
) |
Performs a complete scan.
<axis> | Pan or Till |
<tWait> | Wait time betwen commands |
<initial> | initial position |
<final> | final position |
<radPre> | radians precision for the scan |
<interlaced> | if interlaced==true performs a double sweep |
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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 225 of file CGenericSensor.h.
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inlineinherited |
The quality of JPEG compression, when external images is enabled and the format is "jpg".
Definition at line 230 of file CGenericSensor.h.
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inline |
Method for limit map points obtained from a scan.
Set high between ptu tilt axis and hokuyo laser scan
Definition at line 130 of file CPtuHokuyo.h.
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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::CSwissRanger3DCamera, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::COpenNI2_RGBD360, mrpt::hwdrivers::CKinect, and mrpt::hwdrivers::CCameraSensor.
Definition at line 216 of file CGenericSensor.h.
References MRPT_UNUSED_PARAM.
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inlineinherited |
Definition at line 87 of file CGenericSensor.h.
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private |
Performs a simple scan.
<axis> | Pan or Till |
<tWait> | Wait time betwen commands |
<movements> | number total of movements |
<radPre> | radians precision for the scan |
<vObs> | reference to obsevations vector for save the observation |
double mrpt::hwdrivers::CPtuHokuyo::high |
Definition at line 68 of file CPtuHokuyo.h.
CHokuyoURG mrpt::hwdrivers::CPtuHokuyo::laser |
Definition at line 56 of file CPtuHokuyo.h.
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protected |
Definition at line 46 of file CPtuHokuyo.h.
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privateinherited |
The critical section for m_objList.
Definition at line 104 of file CGenericSensor.h.
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protectedinherited |
The extension ("jpg","gif","png",...) that determines the format of images saved externally.
Definition at line 130 of file CGenericSensor.h.
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protectedinherited |
For JPEG images, the quality (default=95%).
Definition at line 131 of file CGenericSensor.h.
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protected |
Definition at line 47 of file CPtuHokuyo.h.
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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 117 of file CGenericSensor.h.
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protectedinherited |
Used when "m_grab_decimation" is enabled.
Definition at line 122 of file CGenericSensor.h.
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protected |
Definition at line 47 of file CPtuHokuyo.h.
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protected |
Definition at line 47 of file CPtuHokuyo.h.
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staticprivateinherited |
Used in registerClass.
Definition at line 108 of file CGenericSensor.h.
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protectedinherited |
See CGenericSensor.
Definition at line 116 of file CGenericSensor.h.
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privateinherited |
The queue of objects to be returned by getObservations.
Definition at line 105 of file CGenericSensor.h.
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protectedinherited |
The path where to save off-rawlog images: empty means save images embedded in the rawlog.
Definition at line 129 of file CGenericSensor.h.
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protectedinherited |
See CGenericSensor.
Definition at line 115 of file CGenericSensor.h.
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protected |
Definition at line 45 of file CPtuHokuyo.h.
int mrpt::hwdrivers::CPtuHokuyo::m_ptu_type |
Specify type of ptu.
Current options are: m_ptu_type = 0 => CPtuDPerception m_ptu_type = 1 => CPtuMicos
Definition at line 63 of file CPtuHokuyo.h.
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protectedinherited |
See CGenericSensor.
Definition at line 118 of file CGenericSensor.h.
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protectedinherited |
Definition at line 124 of file CGenericSensor.h.
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protected |
Definition at line 47 of file CPtuHokuyo.h.
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protectedinherited |
Definition at line 125 of file CGenericSensor.h.
CPtuBase* mrpt::hwdrivers::CPtuHokuyo::ptu |
Definition at line 57 of file CPtuHokuyo.h.
std::vector<mrpt::hwdrivers::CPtuHokuyo::my_pos> mrpt::hwdrivers::CPtuHokuyo::v_my_pos |
Definition at line 76 of file CPtuHokuyo.h.
std::vector<double> mrpt::hwdrivers::CPtuHokuyo::v_ptu_pos |
Definition at line 77 of file CPtuHokuyo.h.
std::vector<double> mrpt::hwdrivers::CPtuHokuyo::v_ptu_time |
Definition at line 77 of file CPtuHokuyo.h.
std::vector<mrpt::obs::CObservation2DRangeScan> mrpt::hwdrivers::CPtuHokuyo::vObs |
Definition at line 65 of file CPtuHokuyo.h.
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