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mrpt::hwdrivers::CSickLaserSerial Class Referenceabstract

Detailed Description

This "software driver" implements the communication protocol for interfacing a SICK LMS 2XX laser scanners through a standard RS232 serial port (or a USB2SERIAL converter).

The serial port is opened upon the first call to "doProcess" or "initialize", so you must call "loadConfig" before this, or manually call "setSerialPort". Another alternative is to call the base class method C2DRangeFinderAbstract::bindIO, but the "setSerialPort" interface is probably much simpler to use.

For an example of usage see the example in "samples/SICK_laser_serial_test". See also the example configuration file for rawlog-grabber in "share/mrpt/config_files/rawlog-grabber".

PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
[supplied_section_name]
COM_port_WIN = COM1 // Serial port to connect to
COM_port_LIN = ttyS0
COM_baudRate = 38400 // Possible values: 9600 (default), 38400, 5000000
mm_mode = 1/0 // 1: millimeter mode, 0:centimeter mode (Default=0)
FOV = 180 // Field of view: 100 or 180 degrees (Default=180)
resolution = 50 // Scanning resolution, in units of 1/100 degree. Valid values: 25,50,100 (Default=50)
//skip_laser_config = true // (Default:false) If true, doesn't send the initialization commands to the laser and go straight to capturing
pose_x=0.21 // Laser range scaner 3D position in the robot (meters)
pose_y=0
pose_z=0.34
pose_yaw=0 // Angles in degrees
pose_pitch=0
pose_roll=0
//preview = true // Enable GUI visualization of captured data
// Optional: Exclusion zones to avoid the robot seeing itself:
//exclusionZone1_x = 0.20 0.30 0.30 0.20
//exclusionZone1_y = 0.20 0.30 0.30 0.20
// Optional: Exclusion zones to avoid the robot seeing itself:
//exclusionAngles1_ini = 20 // Deg
//exclusionAngles1_end = 25 // Deg
See Also
C2DRangeFinderAbstract

Definition at line 62 of file CSickLaserSerial.h.

#include <mrpt/hwdrivers/CSickLaserSerial.h>

Inheritance diagram for mrpt::hwdrivers::CSickLaserSerial:
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 CGenericSensor
ConstPtr
 

Public Member Functions

 CSickLaserSerial ()
 Constructor. More...
 
virtual ~CSickLaserSerial ()
 Destructor. More...
 
void setSerialPort (const std::string &port)
 Changes the serial port to connect to (call prior to 'doProcess'), for example "COM1" or "ttyS0". More...
 
std::string getSerialPort () const
 
void setBaudRate (int baud)
 Changes the serial port baud rate (call prior to 'doProcess'); valid values are 9600,38400 and 500000. More...
 
int getBaudRate () const
 
void setMillimeterMode (bool mm_mode=true)
 Enables/Disables the millimeter mode, with a greater accuracy but a shorter range (default=false) (call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig". More...
 
void setScanFOV (int fov_degrees)
 Set the scanning field of view - possible values are 100 or 180 (default) (call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig". More...
 
int getScanFOV () const
 
void setScanResolution (int res_1_100th_degree)
 Set the scanning resolution, in units of 1/100 degree - Possible values are 25, 50 and 100, for 0.25, 0.5 (default) and 1 deg. More...
 
int getScanResolution () const
 
unsigned int getCurrentConnectTry () const
 If performing several tries in ::initialize(), this is the current try loop number. More...
 
void doProcessSimple (bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError)
 Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it. More...
 
void initialize ()
 Set-up communication with the laser. More...
 
bool turnOn ()
 Enables the scanning mode (in this class this has no effect). More...
 
bool turnOff ()
 Disables the scanning mode (in this class this has no effect). More...
 
void showPreview (bool enable=true)
 Enables GUI visualization in real-time. More...
 
void bindIO (mrpt::utils::CStream *streamIO)
 Binds the object to a given I/O channel. More...
 
void getObservation (bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError)
 Get the last observation from the sensor, if available, and unmarks it as being "the last one" (thus a new scan must arrive or subsequent calls will find no new observations). More...
 
void doProcess ()
 Main method for a CGenericSensor. More...
 
virtual const
mrpt::hwdrivers::TSensorClassId
GetRuntimeClass () const =0
 
TSensorState getState () const
 The current state of the sensor. More...
 
double getProcessRate () const
 
std::string getSensorLabel () const
 
void setSensorLabel (const std::string &sensorLabel)
 
void enableVerbose (bool enabled=true)
 Enable or disable extra debug info dumped to std::cout during sensor operation. More...
 
bool isVerboseEnabled () const
 
void loadConfig (const mrpt::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)
 See the class documentation at the top for expected parameters. More...
 
void loadCommonParams (const mrpt::utils::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::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

utils::CStreamm_stream
 The I/O channel (will be NULL if not bound). 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...
 
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

bool tryToOpenComms (std::string *err_msg=NULL)
 Tries to open the com port and setup all the LMS protocol. Returns true if OK or already open. More...
 
bool waitContinuousSampleFrame (std::vector< float > &ranges, unsigned char &LMS_status, bool &is_mm_mode)
 
bool LMS_setupSerialComms ()
 Assures laser is connected and operating at 38400, in its case returns true. More...
 
bool LMS_setupBaudrate (int baud)
 Send a command to change the LMS comms baudrate, return true if ACK is OK. baud can be: 9600, 19200, 38400, 500000. More...
 
bool LMS_statusQuery ()
 Send a status query and wait for the answer. Return true on OK. More...
 
bool LMS_waitACK (uint16_t timeout_ms)
 Returns false if timeout. More...
 
bool LMS_waitIncomingFrame (uint16_t timeout)
 Returns false if timeout. More...
 
bool LMS_sendMeasuringMode_cm_mm ()
 Returns false on error. More...
 
bool LMS_startContinuousMode ()
 
bool LMS_endContinuousMode ()
 
bool SendCommandToSICK (const uint8_t *cmd, const uint16_t cmd_len)
 Send header+command-data+crc and waits for ACK. Return false on error. More...
 

Private Attributes

bool m_mm_mode
 
int m_scans_FOV
 100 or 180 deg More...
 
int m_scans_res
 1/100th of deg: 100, 50 or 25 More...
 
mrpt::math::TPose3D m_sensorPose
 The sensor 6D pose: More...
 
uint8_t m_received_frame_buffer [2000]
 
std::string m_com_port
 If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser. More...
 
CSerialPortm_mySerialPort
 Will be !=NULL only if I created it, so I must destroy it at the end. More...
 
int m_com_baudRate
 Baudrate: 9600, 38400, 500000. More...
 
unsigned int m_nTries_connect
 Default = 1. More...
 
unsigned int m_nTries_current
 
bool m_skip_laser_config
 If true, doesn't send the initialization commands to the laser and go straight to capturing. More...
 

Static Private Attributes

static int CRC16_GEN_POL = 0x8005
 

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

CSickLaserSerial::CSickLaserSerial ( )

Constructor.

Definition at line 38 of file CSickLaserSerial.cpp.

References m_received_frame_buffer, and mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

CSickLaserSerial::~CSickLaserSerial ( )
virtual

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().

void C2DRangeFinderAbstract::bindIO ( mrpt::utils::CStream streamIO)
inherited

Binds the object to a given I/O channel.

The stream object must not be deleted before the destruction of this class.

See Also
hwdrivers::CSerialPort

Definition at line 46 of file C2DRangeFinderAbstract.cpp.

References mrpt::synch::CCriticalSection::enter(), mrpt::synch::CCriticalSection::leave(), mrpt::hwdrivers::C2DRangeFinderAbstract::m_csChangeStream, and mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream.

Referenced by mrpt::hwdrivers::CHokuyoURG::ensureStreamIsOpen().

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.

void C2DRangeFinderAbstract::doProcess ( )
virtualinherited
void CSickLaserSerial::doProcessSimple ( bool &  outThereIsObservation,
mrpt::obs::CObservation2DRangeScan outObservation,
bool &  hardwareError 
)
virtual
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.

void C2DRangeFinderAbstract::filterByExclusionAngles ( mrpt::obs::CObservation2DRangeScan obs) const
protectedinherited
void C2DRangeFinderAbstract::filterByExclusionAreas ( mrpt::obs::CObservation2DRangeScan obs) const
protectedinherited
int mrpt::hwdrivers::CSickLaserSerial::getBaudRate ( ) const
inline
See Also
setBaudRate

Definition at line 129 of file CSickLaserSerial.h.

unsigned int mrpt::hwdrivers::CSickLaserSerial::getCurrentConnectTry ( ) const
inline

If performing several tries in ::initialize(), this is the current try loop number.

Definition at line 150 of file CSickLaserSerial.h.

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

Definition at line 234 of file CGenericSensor.h.

void C2DRangeFinderAbstract::getObservation ( bool &  outThereIsObservation,
mrpt::obs::CObservation2DRangeScan outObservation,
bool &  hardwareError 
)
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 56 of file C2DRangeFinderAbstract.cpp.

References mrpt::synch::CCriticalSection::enter(), mrpt::synch::CCriticalSection::leave(), mrpt::hwdrivers::C2DRangeFinderAbstract::m_csLastObservation, mrpt::hwdrivers::C2DRangeFinderAbstract::m_hardwareError, mrpt::hwdrivers::C2DRangeFinderAbstract::m_lastObservation, and mrpt::hwdrivers::C2DRangeFinderAbstract::m_lastObservationIsNew.

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
int mrpt::hwdrivers::CSickLaserSerial::getScanFOV ( ) const
inline

Definition at line 141 of file CSickLaserSerial.h.

int mrpt::hwdrivers::CSickLaserSerial::getScanResolution ( ) const
inline

Definition at line 147 of file CSickLaserSerial.h.

std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const
inlineinherited

Definition at line 86 of file CGenericSensor.h.

std::string mrpt::hwdrivers::CSickLaserSerial::getSerialPort ( ) const
inline
See Also
setSerialPort

Definition at line 120 of file CSickLaserSerial.h.

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

The current state of the sensor.

Definition at line 82 of file CGenericSensor.h.

void CSickLaserSerial::initialize ( void  )
virtual

Set-up communication with the laser.

Called automatically by rawlog-grabber. If used manually, call after "loadConfig" and before "doProcess".

In this class this method does nothing, since the communications are setup at the first try from "doProcess" or "doProcessSimple".

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 381 of file CSickLaserSerial.cpp.

References m_received_frame_buffer, and tryToOpenComms().

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

Definition at line 93 of file CGenericSensor.h.

bool CSickLaserSerial::LMS_endContinuousMode ( )
private
bool CSickLaserSerial::LMS_sendMeasuringMode_cm_mm ( )
private
bool CSickLaserSerial::LMS_setupBaudrate ( int  baud)
private

Send a command to change the LMS comms baudrate, return true if ACK is OK. baud can be: 9600, 19200, 38400, 500000.

Definition at line 471 of file CSickLaserSerial.cpp.

References ASSERT_, LMS_waitIncomingFrame(), mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, SendCommandToSICK(), and THROW_EXCEPTION.

Referenced by LMS_setupSerialComms().

bool CSickLaserSerial::LMS_setupSerialComms ( )
private
bool CSickLaserSerial::LMS_startContinuousMode ( )
private
bool CSickLaserSerial::LMS_statusQuery ( )
private

Send a status query and wait for the answer. Return true on OK.

Definition at line 498 of file CSickLaserSerial.cpp.

References ASSERT_, LMS_waitIncomingFrame(), mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, and SendCommandToSICK().

Referenced by LMS_setupSerialComms().

bool CSickLaserSerial::LMS_waitACK ( uint16_t  timeout_ms)
private
bool CSickLaserSerial::LMS_waitIncomingFrame ( uint16_t  timeout)
private
void C2DRangeFinderAbstract::loadCommonParams ( const mrpt::utils::CConfigFileBase configSource,
const std::string iniSection 
)
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".

  • exclusionZoneu_x
  • exclusionZoneu_y for u=1,2,3,... All points within the 2D polygon will be ignored, for any Z, unless an optional entry is found:
  • exclusionZoneu_z=[z_min z_max] In that case, only the points within the 2D polygon AND the given range in Z will be ignored.

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')

See Also
filterByExclusionAreas

Definition at line 102 of file C2DRangeFinderAbstract.cpp.

References ASSERT_, ASSERTMSG_, DEG2RAD, mrpt::format(), mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionAngles, mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionPolys, M_PI, mrpt::hwdrivers::C2DRangeFinderAbstract::m_showPreview, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_double(), and mrpt::utils::CConfigFileBase::read_vector().

Referenced by mrpt::hwdrivers::CSickLaserUSB::loadConfig_sensorSpecific(), mrpt::hwdrivers::CRoboPeakLidar::loadConfig_sensorSpecific(), loadConfig_sensorSpecific(), and mrpt::hwdrivers::CHokuyoURG::loadConfig_sensorSpecific().

void CGenericSensor::loadConfig ( const mrpt::utils::CConfigFileBase configSource,
const std::string section 
)
inherited
void CSickLaserSerial::loadConfig_sensorSpecific ( const mrpt::utils::CConfigFileBase configSource,
const std::string iniSection 
)
protectedvirtual
void C2DRangeFinderAbstract::processPreview ( const mrpt::obs::CObservation2DRangeScan obs)
protectedinherited
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().

bool CSickLaserSerial::SendCommandToSICK ( const uint8_t cmd,
const uint16_t  cmd_len 
)
private
void mrpt::hwdrivers::CSickLaserSerial::setBaudRate ( int  baud)
inline

Changes the serial port baud rate (call prior to 'doProcess'); valid values are 9600,38400 and 500000.

This is not needed if the configuration is loaded with "loadConfig".

See Also
getBaudRate

Definition at line 125 of file CSickLaserSerial.h.

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.

void mrpt::hwdrivers::CSickLaserSerial::setMillimeterMode ( bool  mm_mode = true)
inline

Enables/Disables the millimeter mode, with a greater accuracy but a shorter range (default=false) (call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig".

Definition at line 135 of file CSickLaserSerial.h.

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::CSickLaserSerial::setScanFOV ( int  fov_degrees)
inline

Set the scanning field of view - possible values are 100 or 180 (default) (call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig".

Definition at line 140 of file CSickLaserSerial.h.

void mrpt::hwdrivers::CSickLaserSerial::setScanResolution ( int  res_1_100th_degree)
inline

Set the scanning resolution, in units of 1/100 degree - Possible values are 25, 50 and 100, for 0.25, 0.5 (default) and 1 deg.

(call prior to 'doProcess') This is not needed if the configuration is loaded with "loadConfig".

Definition at line 146 of file CSickLaserSerial.h.

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

Definition at line 87 of file CGenericSensor.h.

void mrpt::hwdrivers::CSickLaserSerial::setSerialPort ( const std::string port)
inline

Changes the serial port to connect to (call prior to 'doProcess'), for example "COM1" or "ttyS0".

This is not needed if the configuration is loaded with "loadConfig".

Definition at line 117 of file CSickLaserSerial.h.

void mrpt::hwdrivers::C2DRangeFinderAbstract::showPreview ( bool  enable = true)
inlineinherited

Enables GUI visualization in real-time.

Definition at line 95 of file C2DRangeFinderAbstract.h.

bool CSickLaserSerial::tryToOpenComms ( std::string err_msg = NULL)
private
bool CSickLaserSerial::turnOff ( )
virtual

Disables the scanning mode (in this class this has no effect).

Returns
If everything works "true", or "false" if there is any error.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

Definition at line 185 of file CSickLaserSerial.cpp.

bool CSickLaserSerial::turnOn ( )
virtual

Enables the scanning mode (in this class this has no effect).

Returns
If everything works "true", or "false" if there is any error.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

Definition at line 177 of file CSickLaserSerial.cpp.

bool CSickLaserSerial::waitContinuousSampleFrame ( std::vector< float > &  ranges,
unsigned char &  LMS_status,
bool &  is_mm_mode 
)
private

Member Data Documentation

int CSickLaserSerial::CRC16_GEN_POL = 0x8005
staticprivate
int mrpt::hwdrivers::CSickLaserSerial::m_com_baudRate
private

Baudrate: 9600, 38400, 500000.

Definition at line 96 of file CSickLaserSerial.h.

Referenced by LMS_setupSerialComms(), and loadConfig_sensorSpecific().

std::string mrpt::hwdrivers::CSickLaserSerial::m_com_port
private

If set to non-empty, the serial port will be attempted to be opened automatically when this class is first used to request data from the laser.

Definition at line 94 of file CSickLaserSerial.h.

Referenced by loadConfig_sensorSpecific(), and tryToOpenComms().

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().

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().

bool mrpt::hwdrivers::CSickLaserSerial::m_mm_mode
private

Definition at line 67 of file CSickLaserSerial.h.

Referenced by LMS_sendMeasuringMode_cm_mm(), and loadConfig_sensorSpecific().

CSerialPort* mrpt::hwdrivers::CSickLaserSerial::m_mySerialPort
private

Will be !=NULL only if I created it, so I must destroy it at the end.

Definition at line 95 of file CSickLaserSerial.h.

Referenced by tryToOpenComms(), and ~CSickLaserSerial().

unsigned int mrpt::hwdrivers::CSickLaserSerial::m_nTries_connect
private

Default = 1.

Definition at line 97 of file CSickLaserSerial.h.

Referenced by LMS_setupSerialComms(), and loadConfig_sensorSpecific().

unsigned int mrpt::hwdrivers::CSickLaserSerial::m_nTries_current
private

Definition at line 98 of file CSickLaserSerial.h.

Referenced by LMS_setupSerialComms().

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().

double mrpt::hwdrivers::CGenericSensor::m_process_rate
protectedinherited
uint8_t mrpt::hwdrivers::CSickLaserSerial::m_received_frame_buffer[2000]
private
int mrpt::hwdrivers::CSickLaserSerial::m_scans_FOV
private

100 or 180 deg

Definition at line 68 of file CSickLaserSerial.h.

Referenced by LMS_startContinuousMode(), and loadConfig_sensorSpecific().

int mrpt::hwdrivers::CSickLaserSerial::m_scans_res
private

1/100th of deg: 100, 50 or 25

Definition at line 69 of file CSickLaserSerial.h.

Referenced by LMS_startContinuousMode(), and loadConfig_sensorSpecific().

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(), 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(), 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::math::TPose3D mrpt::hwdrivers::CSickLaserSerial::m_sensorPose
private

The sensor 6D pose:

Definition at line 72 of file CSickLaserSerial.h.

Referenced by doProcessSimple(), and loadConfig_sensorSpecific().

bool mrpt::hwdrivers::CSickLaserSerial::m_skip_laser_config
private

If true, doesn't send the initialization commands to the laser and go straight to capturing.

Definition at line 99 of file CSickLaserSerial.h.

Referenced by loadConfig_sensorSpecific(), tryToOpenComms(), and ~CSickLaserSerial().

TSensorState mrpt::hwdrivers::CGenericSensor::m_state
protectedinherited
utils::CStream* mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream
protectedinherited
bool mrpt::hwdrivers::CGenericSensor::m_verbose
protectedinherited



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