Detailed Description

This software driver implements the protocol SCIP-2.0 for interfacing HOKUYO URG/UTM/UXM/UST laser scanners (USB or Ethernet).

Refer to the example code HOKUYO_laser_test and to example rawlog-grabber config files

See also the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner.

 PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
  [supplied_section_name]
   HOKUYO_motorSpeed_rpm=600
   #HOKUYO_HS_mode   = false    // Optional (un-comment line if used):
Set/unset the High-sensitivity mode (not on all models/firmwares!)
   # Uncomment serial port or IP address, depending on the Hokuyo model
(serial/USB vs. Ethernet):
   COM_port_WIN = COM3       // Serial port name in Windows
   COM_port_LIN = ttyS0      // Serial port name in GNU/Linux
   #IP_DIR      =       192.168.0.10 // Uncommented this and "PORT_DIR" if the
used HOKUYO is connected by Ethernet instead of USB
   #PORT_DIR = 10940         // Default value: 10940
   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
   #disable_firmware_timestamp = true   // Uncomment to use PC time instead
of laser time
   # Optional: reduced FOV:
   # reduced_fov  = 25 // Deg
   # Sets decimation of scans directly at the Hokuyo scanner.
   # 0=means send all scans, 1=means send 50% of scans, etc.
   # scan_interval = 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

Definition at line 75 of file CHokuyoURG.h.

#include <mrpt/hwdrivers/CHokuyoURG.h>

Inheritance diagram for mrpt::hwdrivers::CHokuyoURG:

Classes
struct	TSensorInfo
	Used in CHokuyoURG::displayVersionInfo. More...

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 std::shared_ptr< const CGenericSensor >	ConstPtr

Public Member Functions
	CHokuyoURG ()
	Constructor. More...

virtual	~CHokuyoURG ()
	Destructor: turns the laser off. 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...

bool	turnOn ()
	Enables the scanning mode (which may depend on the specific laser device); this must be called before asking for observations to assure that the protocol has been initializated. More...

bool	turnOff ()
	Disables the scanning mode (this can be used to turn the device in low energy mode, if available) More...

void	purgeBuffers ()
	Empties the RX buffers of the serial port. More...

void	setSerialPort (const std::string &port_name)
	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...

void	setIPandPort (const std::string &ip, const unsigned int &port)
	Set the ip direction and port to connect using Ethernet communication. More...

const std::string	getSerialPort ()
	Returns the currently set serial port. More...

void	setReducedFOV (const double fov)
	If called (before calling "turnOn"), the field of view of the laser is reduced to the given range (in radians), discarding the rest of measures. More...

bool	setHighSensitivityMode (bool enabled)
	Changes the high sensitivity mode (HS) (default: false) More...

bool	setIntensityMode (bool enabled)
	If true scans will capture intensity. More...

void	setScanInterval (unsigned int skipScanCount)
	Set the skip scan count (0 means send all scans). More...

unsigned int	getScanInterval () const

void	sendCmd (const char *str)

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". 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...

Protected Member Functions
bool	ensureStreamIsOpen ()
	Returns true if there is a valid stream bound to the laser scanner, otherwise it first try to open the serial port "m_com_port". More...

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
std::string	m_rcv_data
	temp buffer for incoming data packets More...

double	m_reduced_fov
	Used to reduce artificially the interval of scan ranges. More...

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...

std::string	m_ip_dir
	If set to non-empty and m_port_dir too, the program will try to connect to a Hokuyo using Ethernet communication. More...

unsigned int	m_port_dir
	If set to non-empty and m_ip_dir too, the program will try to connect to a Hokuyo using Ethernet communication. More...

TSensorInfo	m_sensor_info
	The information gathered when the laser is first open. More...

bool	m_I_am_owner_serial_port

uint32_t	m_timeStartUI
	Time of the first data packet, for synchronization purposes. More...

int	m_timeStartSynchDelay
	Counter to discard to first few packets before setting the correspondence between device and computer timestamps. More...

mrpt::system::TTimeStamp	m_timeStartTT

bool	m_disable_firmware_timestamp

bool	m_intensity
	Get intensity from lidar scan (default: false) More...

unsigned int	m_scan_interval

utils::CStream *	m_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	enableSCIP20 ()
	Enables the SCIP2.0 protocol (this must be called at the very begining!). More...

bool	setHighBaudrate ()
	Passes to 115200bps bitrate. More...

bool	switchLaserOn ()
	Switchs the laser on. More...

bool	switchLaserOff ()
	Switchs the laser off. More...

bool	setMotorSpeed (int motoSpeed_rpm)
	Changes the motor speed in rpm's (default 600rpm) More...

bool	displayVersionInfo ()
	Ask to the device, and print to the debug stream, details about the firmware version,serial number,... More...

bool	displaySensorInfo (CHokuyoURG::TSensorInfo *out_data=NULL)
	Ask to the device, and print to the debug stream, details about the sensor model. More...

bool	startScanningMode ()
	Start the continuous scanning mode, using parameters stored in the object (loaded from the .ini file). More...

void	initialize ()
	Turns the laser on. More...

bool	receiveResponse (char &rcv_status0, char &rcv_status1)
	Waits for a response from the device. More...

bool	assureBufferHasBytes (const size_t nDesiredBytes)
	Assures a minimum number of bytes in the input buffer, reading from the serial port only if required. More...

Private Attributes
int	m_firstRange
	The first and last ranges to consider from the scan. More...

int	m_lastRange

int	m_motorSpeed_rpm
	The motor speed (default=600rpm) More...

poses::CPose3D	m_sensorPose
	The sensor 6D pose: More...

mrpt::utils::circular_buffer< uint8_t >	m_rx_buffer
	Auxiliary buffer for readings. More...

std::string	m_lastSentMeasCmd
	The last sent measurement command (MDXXX), including the last 0x0A. More...

bool	m_highSensMode
	High sensitivity [HS] mode (default: false) More...

mrpt::gui::CDisplayWindow3D::Ptr	m_win

Member Typedef Documentation

◆ ConstPtr

typedef std::shared_ptr<const CGenericSensor> mrpt::hwdrivers::CGenericSensor::ConstPtr

inherited

Definition at line 124 of file CGenericSensor.h.

◆ Ptr

typedef CGenericSensorPtr mrpt::hwdrivers::CGenericSensor::Ptr

inherited

Definition at line 123 of file CGenericSensor.h.

◆ TListObservations

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

inherited

Definition at line 89 of file CGenericSensor.h.

◆ TListObsPair

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

inherited

Definition at line 90 of file CGenericSensor.h.

Member Enumeration Documentation

◆ TSensorState

enum mrpt::hwdrivers::CGenericSensor::TSensorState

inherited

The current state of the sensor.

See also: CGenericSensor::getState

Enumerator
ssInitializing
ssWorking
ssError

Definition at line 95 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ CHokuyoURG()

CHokuyoURG::CHokuyoURG ( )

Constructor.

Definition at line 32 of file CHokuyoURG.cpp.

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

◆ ~CHokuyoURG()

CHokuyoURG::~CHokuyoURG ( )

virtual

Destructor: turns the laser off.

Definition at line 42 of file CHokuyoURG.cpp.

References m_I_am_owner_serial_port, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, m_win, and turnOff().

Member Function Documentation

◆ appendObservation()

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::utils::CSerializablePtr & obj )

inlineprotectedinherited

Like appendObservations() but for just one observation.

Definition at line 168 of file CGenericSensor.h.

◆ appendObservations()

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
appendObservation(o);

If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.

Definition at line 53 of file CGenericSensor.cpp.

References CLASS_ID, mrpt::hwdrivers::CGenericSensor::m_csObjList, mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_objList, and THROW_EXCEPTION.

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

◆ assureBufferHasBytes()

bool CHokuyoURG::assureBufferHasBytes ( const size_t nDesiredBytes )

private

Assures a minimum number of bytes in the input buffer, reading from the serial port only if required.

Returns: false if the number of bytes are not available, even after trying to fetch more data from the serial port.

Definition at line 386 of file CHokuyoURG.cpp.

References ASSERT_, mrpt::utils::circular_buffer< T >::available(), mrpt::utils::circular_buffer< T >::capacity(), m_ip_dir, m_rx_buffer, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, min, mrpt::utils::circular_buffer< T >::push_many(), mrpt::utils::CClientTCPSocket::readAsync(), mrpt::utils::CStream::ReadBuffer(), and mrpt::utils::circular_buffer< T >::size().

Referenced by receiveResponse().

◆ bindIO()

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 ensureStreamIsOpen().

◆ createSensor()

CGenericSensor * CGenericSensor::createSensor ( const std::string & className )

staticinherited

Creates a sensor by a name of the class.

Typically the user may want to create a smart pointer around the returned pointer, whis is made with:

CGenericSensorPtr sensor = CGenericSensorPtr( CGenericSensor::createSensor("XXX") );

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().

◆ createSensorPtr()

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 201 of file CGenericSensor.h.

◆ displaySensorInfo()

bool CHokuyoURG::displaySensorInfo ( CHokuyoURG::TSensorInfo * out_data = NULL )

private

Ask to the device, and print to the debug stream, details about the sensor model.

It also optionally saves all the information in an user supplied data structure "out_data".

Returns: false on any error

Definition at line 698 of file CHokuyoURG.cpp.

Referenced by turnOn().

◆ displayVersionInfo()

bool CHokuyoURG::displayVersionInfo ( )

private

Ask to the device, and print to the debug stream, details about the firmware version,serial number,...

Returns: false on any error

Definition at line 661 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), m_rcv_data, MRPT_LOG_DEBUG, MRPT_LOG_ERROR_STREAM, MRPT_LOG_INFO_STREAM, receiveResponse(), and sendCmd().

Referenced by turnOn().

◆ doProcess()

void C2DRangeFinderAbstract::doProcess ( )

virtualinherited

Main method for a CGenericSensor.

Implements mrpt::hwdrivers::CGenericSensor.

Reimplemented in mrpt::hwdrivers::CLMS100Eth.

Definition at line 75 of file C2DRangeFinderAbstract.cpp.

References mrpt::hwdrivers::CGenericSensor::appendObservation(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcessSimple(), mrpt::hwdrivers::C2DRangeFinderAbstract::m_nextObservation, mrpt::hwdrivers::CGenericSensor::m_state, mrpt::hwdrivers::CGenericSensor::ssError, mrpt::hwdrivers::CGenericSensor::ssWorking, and THROW_EXCEPTION.

◆ doProcessSimple()

void CHokuyoURG::doProcessSimple	(	bool &	outThereIsObservation,
		mrpt::obs::CObservation2DRangeScan &	outObservation,
		bool &	hardwareError
	)

virtual

Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it.

This method will be typically called in a different thread than other methods, and will be called in a timely fashion.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

Definition at line 66 of file CHokuyoURG.cpp.

◆ enableSCIP20()

bool CHokuyoURG::enableSCIP20 ( )

private

Enables the SCIP2.0 protocol (this must be called at the very begining!).

Returns: false on any error

Definition at line 529 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_ERROR_STREAM, receiveResponse(), and sendCmd().

Referenced by turnOn().

◆ enableVerbose()

void mrpt::hwdrivers::CGenericSensor::enableVerbose ( bool enabled = true )

inlineinherited

Enable or disable extra debug info dumped to std::cout during sensor operation.

Default: disabled unless the environment variable "MRPT_HWDRIVERS_VERBOSE" is set to "1" during object creation.

Definition at line 113 of file CGenericSensor.h.

◆ ensureStreamIsOpen()

bool CHokuyoURG::ensureStreamIsOpen ( )

protected

Returns true if there is a valid stream bound to the laser scanner, otherwise it first try to open the serial port "m_com_port".

Definition at line 813 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, mrpt::hwdrivers::C2DRangeFinderAbstract::bindIO(), mrpt::utils::CClientTCPSocket::connect(), mrpt::utils::CClientTCPSocket::isConnected(), mrpt::hwdrivers::CSerialPort::isOpen(), m_com_port, m_I_am_owner_serial_port, m_ip_dir, m_port_dir, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, MRPT_END, MRPT_LOG_ERROR, MRPT_LOG_ERROR_STREAM, MRPT_LOG_INFO_STREAM, MRPT_START, mrpt::hwdrivers::CSerialPort::open(), THROW_EXCEPTION, and turnOn().

Referenced by displaySensorInfo(), displayVersionInfo(), doProcessSimple(), enableSCIP20(), initialize(), purgeBuffers(), receiveResponse(), setHighBaudrate(), setHighSensitivityMode(), setMotorSpeed(), startScanningMode(), switchLaserOff(), switchLaserOn(), and turnOn().

◆ filterByExclusionAngles()

void C2DRangeFinderAbstract::filterByExclusionAngles ( mrpt::obs::CObservation2DRangeScan & obs ) const

protectedinherited

Mark as invalid those ranges in a set of forbiden angle ranges.

See also: loadExclusionAreas

Definition at line 174 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 doProcessSimple().

◆ filterByExclusionAreas()

void C2DRangeFinderAbstract::filterByExclusionAreas ( mrpt::obs::CObservation2DRangeScan & obs ) const

protectedinherited

Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons.

See also: loadExclusionAreas

Definition at line 166 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 doProcessSimple().

◆ getExternalImageJPEGQuality()

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

inlineinherited

Definition at line 255 of file CGenericSensor.h.

◆ getObservation()

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.

◆ getObservations()

void CGenericSensor::getObservations ( TListObservations & lstObjects )

inherited

Returns a list of enqueued objects, emptying it (thread-safe).

The objects must be freed by the invoker.

Definition at line 90 of file CGenericSensor.cpp.

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

◆ getProcessRate()

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

inlineinherited

Definition at line 105 of file CGenericSensor.h.

◆ GetRuntimeClass()

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const

pure virtualinherited

◆ getScanInterval()

unsigned int CHokuyoURG::getScanInterval ( ) const

Definition at line 594 of file CHokuyoURG.cpp.

References m_scan_interval.

◆ getSensorLabel()

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

inlineinherited

Definition at line 107 of file CGenericSensor.h.

◆ getSerialPort()

const std::string mrpt::hwdrivers::CHokuyoURG::getSerialPort ( )

inline

Returns the currently set serial port.

See also: setSerialPort

Definition at line 216 of file CHokuyoURG.h.

◆ getState()

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

inlineinherited

The current state of the sensor.

Definition at line 103 of file CGenericSensor.h.

◆ initialize()

void CHokuyoURG::initialize ( void )

privatevirtual

Turns the laser on.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 918 of file CHokuyoURG.cpp.

References ensureStreamIsOpen(), mrpt::hwdrivers::CGenericSensor::m_verbose, MRPT_LOG_ERROR, and turnOn().

◆ isVerboseEnabled()

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

inlineinherited

Definition at line 114 of file CGenericSensor.h.

◆ loadCommonParams()

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(), mrpt::hwdrivers::CSickLaserSerial::loadConfig_sensorSpecific(), and loadConfig_sensorSpecific().

◆ loadConfig()

void CGenericSensor::loadConfig	(	const mrpt::utils::CConfigFileBase &	cfg,
		const std::string &	sect
	)

inherited

Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".

Exceptions

This	method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

Definition at line 131 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::utils::CConfigFileBase::read_double(), mrpt::utils::CConfigFileBase::read_int(), and mrpt::utils::CConfigFileBase::read_string().

Referenced by mrpt::hwdrivers::prepareVideoSourceFromPanel(), and mrpt::hwdrivers::prepareVideoSourceFromUserSelection().

◆ loadConfig_sensorSpecific()

void CHokuyoURG::loadConfig_sensorSpecific	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	iniSection
	)

protectedvirtual

See the class documentation at the top for expected parameters.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 194 of file CHokuyoURG.cpp.

References ASSERTMSG_, DEG2RAD, mrpt::hwdrivers::C2DRangeFinderAbstract::loadCommonParams(), m_com_port, m_disable_firmware_timestamp, m_highSensMode, m_intensity, m_ip_dir, m_motorSpeed_rpm, m_port_dir, m_reduced_fov, m_scan_interval, m_sensorPose, MRPT_LOAD_HERE_CONFIG_VAR, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_float(), mrpt::utils::CConfigFileBase::read_int(), mrpt::utils::CConfigFileBase::read_string(), and mrpt::poses::CPose3D::setFromValues().

◆ processPreview()

void C2DRangeFinderAbstract::processPreview ( const mrpt::obs::CObservation2DRangeScan & obs )

protectedinherited

Must be called inside the capture method to allow optional GUI preview of scans.

Definition at line 180 of file C2DRangeFinderAbstract.cpp.

References mrpt::opengl::CPlanarLaserScan::Create(), mrpt::gui::CDisplayWindow3D::Create(), 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 doProcessSimple().

◆ purgeBuffers()

void CHokuyoURG::purgeBuffers ( )

Empties the RX buffers of the serial port.

Definition at line 931 of file CHokuyoURG.cpp.

References ensureStreamIsOpen(), mrpt::utils::CClientTCPSocket::getReadPendingBytes(), m_ip_dir, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, mrpt::hwdrivers::CSerialPort::purgeBuffers(), mrpt::utils::CStream::ReadBuffer(), and THROW_EXCEPTION.

Referenced by turnOn().

◆ receiveResponse()

bool CHokuyoURG::receiveResponse	(	char &	rcv_status0,
		char &	rcv_status1
	)

private

Waits for a response from the device.

Packet is stored in m_rcv_data, and status codes in the reference parameters.

Returns: false on any error

Definition at line 415 of file CHokuyoURG.cpp.

References ASSERT_, assureBufferHasBytes(), ensureStreamIsOpen(), m_lastSentMeasCmd, m_rcv_data, m_rx_buffer, MRPT_LOG_DEBUG_STREAM, MRPT_LOG_ERROR_FMT, MRPT_LOG_ERROR_STREAM, and mrpt::utils::circular_buffer< T >::pop().

Referenced by displaySensorInfo(), displayVersionInfo(), doProcessSimple(), enableSCIP20(), setHighBaudrate(), setHighSensitivityMode(), setMotorSpeed(), startScanningMode(), switchLaserOff(), and switchLaserOn().

◆ registerClass()

void CGenericSensor::registerClass ( const TSensorClassId * pNewClass )

staticinherited

Register a class into the internal list of "CGenericSensor" descendents.

Used internally in the macros DEFINE_GENERIC_SENSOR, etc...

Can be used as "CGenericSensor::registerClass( SENSOR_CLASS_ID(CMySensor) );" if building custom sensors outside mrpt libraries in user code.

Definition at line 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().

◆ sendCmd()

void CHokuyoURG::sendCmd ( const char * str )

Definition at line 53 of file CHokuyoURG.cpp.

References ASSERT_, m_lastSentMeasCmd, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, MRPT_END, MRPT_LOG_DEBUG_STREAM, MRPT_START, and mrpt::utils::CStream::WriteBuffer().

Referenced by displaySensorInfo(), displayVersionInfo(), enableSCIP20(), setHighBaudrate(), setHighSensitivityMode(), setMotorSpeed(), startScanningMode(), switchLaserOff(), and switchLaserOn().

◆ setExternalImageFormat()

void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat ( const std::string & ext )

inlineinherited

Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".

See also: setPathForExternalImages, setExternalImageJPEGQuality

Definition at line 247 of file CGenericSensor.h.

◆ setExternalImageJPEGQuality()

void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality ( const unsigned int quality )

inlineinherited

The quality of JPEG compression, when external images is enabled and the format is "jpg".

See also: setExternalImageFormat

Definition at line 252 of file CGenericSensor.h.

References quality.

◆ setHighBaudrate()

bool CHokuyoURG::setHighBaudrate ( )

private

Passes to 115200bps bitrate.

Returns: false on any error

Definition at line 362 of file CHokuyoURG.cpp.

References ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_ERROR, receiveResponse(), and sendCmd().

Referenced by turnOn().

◆ setHighSensitivityMode()

bool CHokuyoURG::setHighSensitivityMode ( bool enabled )

Changes the high sensitivity mode (HS) (default: false)

Returns: false on any error

Definition at line 629 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_LOG_ERROR_STREAM, receiveResponse(), sendCmd(), and mrpt::system::os::sprintf().

Referenced by turnOn().

◆ setIntensityMode()

bool CHokuyoURG::setIntensityMode ( bool enabled )

If true scans will capture intensity.

(default: false) Should not be called while scanning.

Returns: false on any error

Definition at line 656 of file CHokuyoURG.cpp.

References m_intensity.

◆ setIPandPort()

void mrpt::hwdrivers::CHokuyoURG::setIPandPort	(	const std::string &	ip,
		const unsigned int &	port
	)

inline

Set the ip direction and port to connect using Ethernet communication.

Definition at line 210 of file CHokuyoURG.h.

◆ setMotorSpeed()

bool CHokuyoURG::setMotorSpeed ( int motoSpeed_rpm )

private

Changes the motor speed in rpm's (default 600rpm)

Returns: false on any error

Definition at line 596 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_DEBUG_FMT, MRPT_LOG_ERROR_STREAM, receiveResponse(), sendCmd(), and mrpt::system::os::sprintf().

Referenced by turnOn().

◆ setPathForExternalImages()

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

inlinevirtualinherited

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

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

Exceptions

std::exception If the directory doesn't exists and cannot be created.

Reimplemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::COpenNI2_RGBD360, and mrpt::hwdrivers::CSwissRanger3DCamera.

Definition at line 238 of file CGenericSensor.h.

References MRPT_UNUSED_PARAM.

◆ setReducedFOV()

void mrpt::hwdrivers::CHokuyoURG::setReducedFOV ( const double fov )

inline

If called (before calling "turnOn"), the field of view of the laser is reduced to the given range (in radians), discarding the rest of measures.

Call with "0" to disable this reduction again (the default).

Definition at line 221 of file CHokuyoURG.h.

◆ setScanInterval()

void CHokuyoURG::setScanInterval ( unsigned int skipScanCount )

Set the skip scan count (0 means send all scans).

Must be set before initialize()

Definition at line 591 of file CHokuyoURG.cpp.

References m_scan_interval.

◆ setSensorLabel()

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

inlineinherited

Definition at line 108 of file CGenericSensor.h.

◆ setSerialPort()

void mrpt::hwdrivers::CHokuyoURG::setSerialPort ( const std::string & port_name )

inline

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 208 of file CHokuyoURG.h.

◆ showPreview()

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

inlineinherited

Enables GUI visualization in real-time.

Definition at line 95 of file C2DRangeFinderAbstract.h.

◆ startScanningMode()

bool CHokuyoURG::startScanningMode ( )

private

Start the continuous scanning mode, using parameters stored in the object (loaded from the .ini file).

Maps to SCIP2.0 commands MD (no intensity) or ME (intensity). After this command the device will start to send scans until switchLaserOff() is called.

Returns: false on any error

Definition at line 780 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), m_firstRange, m_intensity, m_lastRange, m_scan_interval, MRPT_LOG_DEBUG, MRPT_LOG_ERROR_STREAM, receiveResponse(), sendCmd(), and mrpt::system::os::sprintf().

Referenced by turnOn().

◆ switchLaserOff()

bool CHokuyoURG::switchLaserOff ( )

private

Switchs the laser off.

Returns: false on any error

Definition at line 570 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_ERROR_STREAM, receiveResponse(), and sendCmd().

Referenced by turnOff(), and turnOn().

◆ switchLaserOn()

bool CHokuyoURG::switchLaserOn ( )

private

Switchs the laser on.

Returns: false on any error

Definition at line 549 of file CHokuyoURG.cpp.

References __CURRENT_FUNCTION_NAME__, ensureStreamIsOpen(), MRPT_LOG_DEBUG, MRPT_LOG_ERROR_STREAM, receiveResponse(), and sendCmd().

Referenced by turnOn().

◆ turnOff()

bool CHokuyoURG::turnOff ( )

virtual

Disables the scanning mode (this can be used to turn the device in low energy mode, if available)

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

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

Definition at line 354 of file CHokuyoURG.cpp.

References switchLaserOff().

Referenced by ~CHokuyoURG().

◆ turnOn()

bool CHokuyoURG::turnOn ( )

virtual

Enables the scanning mode (which may depend on the specific laser device); this must be called before asking for observations to assure that the protocol has been initializated.

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

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

Definition at line 247 of file CHokuyoURG.cpp.

References displaySensorInfo(), displayVersionInfo(), enableSCIP20(), ensureStreamIsOpen(), m_firstRange, m_highSensMode, m_ip_dir, m_lastRange, m_motorSpeed_rpm, M_PI, m_reduced_fov, m_sensor_info, mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream, MRPT_END, MRPT_LOG_INFO_STREAM, MRPT_START, mrpt::hwdrivers::CSerialPort::purgeBuffers(), purgeBuffers(), RAD2DEG, mrpt::hwdrivers::CHokuyoURG::TSensorInfo::scan_first, mrpt::hwdrivers::CHokuyoURG::TSensorInfo::scan_last, mrpt::hwdrivers::CHokuyoURG::TSensorInfo::scans_per_360deg, mrpt::hwdrivers::CSerialPort::setConfig(), setHighBaudrate(), setHighSensitivityMode(), setMotorSpeed(), mrpt::hwdrivers::CSerialPort::setTimeouts(), startScanningMode(), switchLaserOff(), and switchLaserOn().

Referenced by ensureStreamIsOpen(), and initialize().

Member Data Documentation

◆ m_com_port

std::string mrpt::hwdrivers::CHokuyoURG::m_com_port

protected

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 256 of file CHokuyoURG.h.

Referenced by ensureStreamIsOpen(), and loadConfig_sensorSpecific().

◆ m_disable_firmware_timestamp

bool mrpt::hwdrivers::CHokuyoURG::m_disable_firmware_timestamp

protected

Definition at line 276 of file CHokuyoURG.h.

Referenced by doProcessSimple(), and loadConfig_sensorSpecific().

◆ m_external_images_format

std::string mrpt::hwdrivers::CGenericSensor::m_external_images_format

protectedinherited

The extension ("jpg","gif","png",...) that determines the format of images saved externally.

See also: setPathForExternalImages

Definition at line 152 of file CGenericSensor.h.

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

◆ m_external_images_jpeg_quality

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

protectedinherited

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

Definition at line 153 of file CGenericSensor.h.

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

◆ m_firstRange

int mrpt::hwdrivers::CHokuyoURG::m_firstRange

private

The first and last ranges to consider from the scan.

Definition at line 94 of file CHokuyoURG.h.

Referenced by doProcessSimple(), startScanningMode(), and turnOn().

◆ m_grab_decimation

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation

protectedinherited

If set to N>=2, only 1 out of N observations will be saved to m_objList.

Definition at line 139 of file CGenericSensor.h.

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

◆ m_grab_decimation_counter

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter

protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 144 of file CGenericSensor.h.

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

◆ m_highSensMode

bool mrpt::hwdrivers::CHokuyoURG::m_highSensMode

private

High sensitivity [HS] mode (default: false)

Definition at line 106 of file CHokuyoURG.h.

Referenced by loadConfig_sensorSpecific(), and turnOn().

◆ m_I_am_owner_serial_port

bool mrpt::hwdrivers::CHokuyoURG::m_I_am_owner_serial_port

protected

Definition at line 268 of file CHokuyoURG.h.

Referenced by ensureStreamIsOpen(), and ~CHokuyoURG().

◆ m_intensity

bool mrpt::hwdrivers::CHokuyoURG::m_intensity

protected

Get intensity from lidar scan (default: false)

Definition at line 278 of file CHokuyoURG.h.

Referenced by doProcessSimple(), loadConfig_sensorSpecific(), setIntensityMode(), and startScanningMode().

◆ m_ip_dir

std::string mrpt::hwdrivers::CHokuyoURG::m_ip_dir

protected

If set to non-empty and m_port_dir too, the program will try to connect to a Hokuyo using Ethernet communication.

Definition at line 260 of file CHokuyoURG.h.

Referenced by assureBufferHasBytes(), ensureStreamIsOpen(), loadConfig_sensorSpecific(), purgeBuffers(), and turnOn().

◆ m_lastRange

int mrpt::hwdrivers::CHokuyoURG::m_lastRange

private

Definition at line 94 of file CHokuyoURG.h.

Referenced by doProcessSimple(), startScanningMode(), and turnOn().

◆ m_lastSentMeasCmd

std::string mrpt::hwdrivers::CHokuyoURG::m_lastSentMeasCmd

private

The last sent measurement command (MDXXX), including the last 0x0A.

Definition at line 103 of file CHokuyoURG.h.

Referenced by receiveResponse(), and sendCmd().

◆ m_max_queue_len

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len

protectedinherited

See CGenericSensor.

Definition at line 138 of file CGenericSensor.h.

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

◆ m_motorSpeed_rpm

int mrpt::hwdrivers::CHokuyoURG::m_motorSpeed_rpm

private

The motor speed (default=600rpm)

Definition at line 96 of file CHokuyoURG.h.

Referenced by loadConfig_sensorSpecific(), and turnOn().

◆ m_path_for_external_images

std::string mrpt::hwdrivers::CGenericSensor::m_path_for_external_images

protectedinherited

The path where to save off-rawlog images: empty means save images embedded in the rawlog.

Definition at line 151 of file CGenericSensor.h.

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

◆ m_port_dir

unsigned int mrpt::hwdrivers::CHokuyoURG::m_port_dir

protected

If set to non-empty and m_ip_dir too, the program will try to connect to a Hokuyo using Ethernet communication.

Definition at line 263 of file CHokuyoURG.h.

Referenced by ensureStreamIsOpen(), and loadConfig_sensorSpecific().

◆ m_process_rate

double mrpt::hwdrivers::CGenericSensor::m_process_rate

protectedinherited

See CGenericSensor.

Definition at line 137 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_rcv_data

std::string mrpt::hwdrivers::CHokuyoURG::m_rcv_data

protected

temp buffer for incoming data packets

Definition at line 243 of file CHokuyoURG.h.

Referenced by displaySensorInfo(), displayVersionInfo(), doProcessSimple(), and receiveResponse().

◆ m_reduced_fov

double mrpt::hwdrivers::CHokuyoURG::m_reduced_fov

protected

Used to reduce artificially the interval of scan ranges.

Definition at line 251 of file CHokuyoURG.h.

Referenced by loadConfig_sensorSpecific(), and turnOn().

◆ m_rx_buffer

mrpt::utils::circular_buffer<uint8_t> mrpt::hwdrivers::CHokuyoURG::m_rx_buffer

private

Auxiliary buffer for readings.

Definition at line 100 of file CHokuyoURG.h.

Referenced by assureBufferHasBytes(), and receiveResponse().

◆ m_scan_interval

unsigned int mrpt::hwdrivers::CHokuyoURG::m_scan_interval

protected

Definition at line 279 of file CHokuyoURG.h.

Referenced by getScanInterval(), loadConfig_sensorSpecific(), setScanInterval(), and startScanningMode().

◆ m_sensor_info

TSensorInfo mrpt::hwdrivers::CHokuyoURG::m_sensor_info

protected

The information gathered when the laser is first open.

Definition at line 266 of file CHokuyoURG.h.

Referenced by doProcessSimple(), and turnOn().

◆ m_sensorLabel

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

protectedinherited

See CGenericSensor.

Definition at line 140 of file CGenericSensor.h.

◆ m_sensorPose

poses::CPose3D mrpt::hwdrivers::CHokuyoURG::m_sensorPose

private

The sensor 6D pose:

Definition at line 98 of file CHokuyoURG.h.

Referenced by doProcessSimple(), and loadConfig_sensorSpecific().

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state

protectedinherited

Definition at line 146 of file CGenericSensor.h.

◆ m_stream

utils::CStream* mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream

protectedinherited

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

Definition at line 58 of file C2DRangeFinderAbstract.h.

◆ m_timeStartSynchDelay

int mrpt::hwdrivers::CHokuyoURG::m_timeStartSynchDelay

protected

Counter to discard to first few packets before setting the correspondence between device and computer timestamps.

Definition at line 274 of file CHokuyoURG.h.

Referenced by doProcessSimple().

◆ m_timeStartTT

mrpt::system::TTimeStamp mrpt::hwdrivers::CHokuyoURG::m_timeStartTT

protected

Definition at line 275 of file CHokuyoURG.h.

Referenced by doProcessSimple().

◆ m_timeStartUI

uint32_t mrpt::hwdrivers::CHokuyoURG::m_timeStartUI

protected

Time of the first data packet, for synchronization purposes.

Definition at line 271 of file CHokuyoURG.h.

Referenced by doProcessSimple().

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose

protectedinherited

Definition at line 147 of file CGenericSensor.h.

◆ m_win

mrpt::gui::CDisplayWindow3D::Ptr mrpt::hwdrivers::CHokuyoURG::m_win

private

Definition at line 107 of file CHokuyoURG.h.

Referenced by ~CHokuyoURG().

Detailed Description

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

◆ TListObservations

◆ TListObsPair

Member Enumeration Documentation

◆ TSensorState

Constructor & Destructor Documentation

◆ CHokuyoURG()

◆ ~CHokuyoURG()

Member Function Documentation

◆ appendObservation()

◆ appendObservations()

◆ assureBufferHasBytes()

◆ bindIO()

◆ createSensor()

◆ createSensorPtr()

◆ displaySensorInfo()

◆ displayVersionInfo()

◆ doProcess()

◆ doProcessSimple()

◆ enableSCIP20()

◆ enableVerbose()

◆ ensureStreamIsOpen()

◆ filterByExclusionAngles()

◆ filterByExclusionAreas()

◆ getExternalImageJPEGQuality()

◆ getObservation()

◆ getObservations()

◆ getProcessRate()

◆ GetRuntimeClass()

◆ getScanInterval()

◆ getSensorLabel()

◆ getSerialPort()

◆ getState()

◆ initialize()

◆ isVerboseEnabled()

◆ loadCommonParams()

◆ loadConfig()

◆ loadConfig_sensorSpecific()

◆ processPreview()

◆ purgeBuffers()

◆ receiveResponse()

◆ registerClass()

◆ sendCmd()

◆ setExternalImageFormat()

◆ setExternalImageJPEGQuality()

◆ setHighBaudrate()

◆ setHighSensitivityMode()

◆ setIntensityMode()

◆ setIPandPort()

◆ setMotorSpeed()

◆ setPathForExternalImages()

◆ setReducedFOV()

◆ setScanInterval()

◆ setSensorLabel()

◆ setSerialPort()

◆ showPreview()

◆ startScanningMode()

◆ switchLaserOff()

◆ switchLaserOn()

◆ turnOff()

◆ turnOn()

Member Data Documentation

◆ m_com_port

◆ m_disable_firmware_timestamp

◆ m_external_images_format

◆ m_external_images_jpeg_quality

◆ m_firstRange

◆ m_grab_decimation

◆ m_grab_decimation_counter