fawkes::Laser360Interface Class Reference
[Fawkes Interfaces]

Laser360Interface Fawkes BlackBoard Interface. More...

#include <interfaces/Laser360Interface.h>

Inheritance diagram for fawkes::Laser360Interface:
Inheritance graph
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List of all members.

Classes

struct  Laser360Interface_data_t
 Internal data storage, do NOT modify!

Public Member Functions

virtual bool message_valid (const Message *message) const
 Check if message is valid and can be enqueued.
float * distances () const
 Get distances value.
float distances (unsigned int index) const
 Get distances value at given index.
void set_distances (unsigned int index, const float new_distances)
 Set distances value at given index.
void set_distances (const float *new_distances)
 Set distances value.
size_t maxlenof_distances () const
 Get maximum length of distances value.
bool is_clockwise_angle () const
 Get clockwise_angle value.
void set_clockwise_angle (const bool new_clockwise_angle)
 Set clockwise_angle value.
size_t maxlenof_clockwise_angle () const
 Get maximum length of clockwise_angle value.
virtual Messagecreate_message (const char *type) const
 Create message based on type name.
virtual void copy_values (const Interface *other)
 Copy values from other interface.
virtual const char * enum_tostring (const char *enumtype, int val) const
 Convert arbitrary enum value to string.

Detailed Description

Laser360Interface Fawkes BlackBoard Interface.

This interface provides access to data of a laser scanner that produces 360 beams per scan. The inter-beam distance is 1 deg, 0 deg is "forward", i.e. in the Fawkes coordinate system pointing towards the cartesian point (1,0). The direction in which the angle grows is indicated by the clockwise_angle field.

Definition at line 33 of file Laser360Interface.h.


Member Function Documentation

void fawkes::Laser360Interface::copy_values ( const Interface other  )  [virtual]

Copy values from other interface.

Parameters:
other other interface to copy values from

Definition at line 182 of file Laser360Interface.cpp.

References fawkes::Interface::type().

Message * fawkes::Laser360Interface::create_message ( const char *  type  )  const [virtual]

Create message based on type name.

This will create a new message of the given type. The type must be given without the InterfaceName:: prefix but just the plain class name of the message.

Parameters:
type message type
Returns:
message of the given type, empty
Exceptions:
UnknownTypeException thrown if this interface cannot create a message of the given type.

Implements fawkes::Interface.

Definition at line 171 of file Laser360Interface.cpp.

float fawkes::Laser360Interface::distances ( unsigned int  index  )  const

Get distances value at given index.

The distances in meter of the beams.

Parameters:
index index of value
Returns:
distances value
Exceptions:
Exception thrown if index is out of bounds

Definition at line 88 of file Laser360Interface.cpp.

float * fawkes::Laser360Interface::distances (  )  const

Get distances value.

The distances in meter of the beams.

Returns:
distances value

Definition at line 74 of file Laser360Interface.cpp.

Referenced by LaserDrawingArea::draw_beams(), LaserDrawingArea::draw_segments(), LaserHtSensorProcThread::loop(), and LaserSensorThread::loop().

const char * fawkes::Laser360Interface::enum_tostring ( const char *  enumtype,
int  val 
) const [virtual]

Convert arbitrary enum value to string.

Given the string representation of the enum type and the value this method returns the string representation of the specific value, or the string UNKNOWN if the value is not defined. An exception is thrown if the enum type is invalid.

Parameters:
enumtype enum type as string
val value to convert
Returns:
string representation of value
Exceptions:
UnknownTypeException thrown if enumtype is not specified for interface.

Implements fawkes::Interface.

Definition at line 193 of file Laser360Interface.cpp.

bool fawkes::Laser360Interface::is_clockwise_angle (  )  const

Get clockwise_angle value.

True if the angle grows clockwise.

Returns:
clockwise_angle value

Definition at line 141 of file Laser360Interface.cpp.

Referenced by LaserDrawingArea::draw_beams().

size_t fawkes::Laser360Interface::maxlenof_clockwise_angle (  )  const

Get maximum length of clockwise_angle value.

Returns:
length of clockwise_angle value, can be length of the array or number of maximum number of characters for a string

Definition at line 151 of file Laser360Interface.cpp.

size_t fawkes::Laser360Interface::maxlenof_distances (  )  const

Get maximum length of distances value.

Returns:
length of distances value, can be length of the array or number of maximum number of characters for a string

Definition at line 101 of file Laser360Interface.cpp.

Referenced by LaserDrawingArea::draw_beams(), LaserDeadSpotCalibrator::LaserDeadSpotCalibrator(), and LaserHtSensorProcThread::loop().

bool fawkes::Laser360Interface::message_valid ( const Message message  )  const [virtual]

Check if message is valid and can be enqueued.

Parameters:
message Message to check
Returns:
true if the message is valid, false otherwise.

Implements fawkes::Interface.

Definition at line 204 of file Laser360Interface.cpp.

void fawkes::Laser360Interface::set_clockwise_angle ( const bool  new_clockwise_angle  ) 

Set clockwise_angle value.

True if the angle grows clockwise.

Parameters:
new_clockwise_angle new clockwise_angle value

Definition at line 163 of file Laser360Interface.cpp.

References fawkes::Interface::data_changed.

Referenced by LaserSensorThread::init().

void fawkes::Laser360Interface::set_distances ( const float *  new_distances  ) 

Set distances value.

The distances in meter of the beams.

Parameters:
new_distances new distances value

Definition at line 113 of file Laser360Interface.cpp.

References fawkes::Interface::data_changed.

void fawkes::Laser360Interface::set_distances ( unsigned int  index,
const float  new_distances 
)

Set distances value at given index.

The distances in meter of the beams.

Parameters:
new_distances new distances value
index index for of the value

Definition at line 127 of file Laser360Interface.cpp.

Referenced by LaserSensorThread::loop(), and PlayerLaserMapper::sync_player_to_fawkes().


The documentation for this class was generated from the following files:

Generated on 1 Mar 2011 for Fawkes API by  doxygen 1.6.1