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mrpt::hwdrivers::CHokuyoURG Class Referenceabstract

Detailed Description

This software driver implements the protocol SCIP-2.0 for interfacing HOKUYO URG, UTM and UXM 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
#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 65 of file CHokuyoURG.h.

#include <mrpt/hwdrivers/CHokuyoURG.h>

Inheritance diagram for mrpt::hwdrivers::CHokuyoURG:
Inheritance graph

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
 

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...
 
void setVerbose (bool enable=true)
 
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::TSensorClassIdGetRuntimeClass () const =0
 
TSensorState getState () const
 The current state of the sensor
More...
 
double getProcessRate () const
 
std::string getSensorLabel () const
 
void setSensorLabel (const std::string &sensorLabel)
 
void enableVerbose (bool enabled=true)
 Enable or disable extra debug info dumped to std::cout during sensor operation. More...
 
bool isVerboseEnabled () const
 
void loadConfig (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)
 Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific". 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 printf_debug (const char *frmt,...)
 Sends a formated text to "debugOut" if not NULL, or to cout otherwise. More...
 
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

bool checkCOMisOpen ()
 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

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
 
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
 
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 scanning mode, using parameters stored in the object (loaded from the .ini file) After this command the device will start to send scans until "switchLaserOff" is called. More...
 
void initialize ()
 Turns the laser on. More...
 
bool receiveResponse (const char *sentCmd_forEchoVerification, char &rcv_status0, char &rcv_status1, char *rcv_data, int &rcv_dataLength)
 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
 
int m_lastRange
 The first and last ranges to consider from the scan. More...
 
int m_motorSpeed_rpm
 The motor speed (default=600rpm) More...
 
poses::CPose3D m_sensorPose
 The sensor 6D pose: More...
 
mrpt::utils::circular_buffer< uint8_tm_rx_buffer
 Auxiliary buffer for readings. More...
 
std::string m_lastSentMeasCmd
 The last sent measurement command (MDXXX), including the last 0x0A. More...
 
bool m_verbose
 
bool m_highSensMode
 High sensitivity [HS] mode (default: false) More...
 
mrpt::gui::CDisplayWindow3DPtr m_win
 
mrpt::obs::CObservation2DRangeScan m_lastObservation
 
bool m_lastObservationIsNew
 
bool m_hardwareError
 
synch::CCriticalSection m_csChangeStream
 For being thread-safe. More...
 
synch::CCriticalSection m_csLastObservation
 
mrpt::obs::CObservation2DRangeScanPtr m_nextObservation
 A dynamic object used as buffer in doProcess. More...
 
mrpt::obs::CObservation2DRangeScan::TListExclusionAreasWithRanges m_lstExclusionPolys
 A list of optional exclusion polygons, in coordinates relative to the vehicle, that is, taking into account the "sensorPose". More...
 
std::vector< std::pair< double, double > > m_lstExclusionAngles
 A list of pairs of angles <init,end> such as all sensor ranges falling in those forbiden angles will be marked as invalid. More...
 
bool m_showPreview
 If true, shows a 3D window with a preview of the grabber data. More...
 
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...
 

Member Typedef Documentation

◆ TListObservations

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

Definition at line 68 of file CGenericSensor.h.

◆ TListObsPair

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

◆ TSensorState

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

◆ CHokuyoURG()

mrpt::hwdrivers::CHokuyoURG::CHokuyoURG ( )

Constructor.

◆ ~CHokuyoURG()

virtual mrpt::hwdrivers::CHokuyoURG::~CHokuyoURG ( )
virtual

Destructor: turns the laser off.

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 146 of file CGenericSensor.h.

◆ appendObservations()

void mrpt::hwdrivers::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
void appendObservation(const mrpt::utils::CSerializablePtr &obj)
Like appendObservations() but for just one observation.
struct OBS_IMPEXP CObservationGPSPtr

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

◆ assureBufferHasBytes()

bool mrpt::hwdrivers::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.

◆ bindIO()

void mrpt::hwdrivers::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

◆ checkCOMisOpen()

bool mrpt::hwdrivers::CHokuyoURG::checkCOMisOpen ( )
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".

◆ createSensor()

static CGenericSensor * mrpt::hwdrivers::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:

static CGenericSensor * createSensor(const std::string &className)
Creates a sensor by a name of the class.
stlplus::smart_ptr< CGenericSensor > CGenericSensorPtr
Returns
A pointer to a new class, or NULL if class name is unknown.

◆ 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 179 of file CGenericSensor.h.

◆ displaySensorInfo()

bool mrpt::hwdrivers::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

◆ displayVersionInfo()

bool mrpt::hwdrivers::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

◆ doProcess()

void mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess ( )
virtualinherited

Main method for a CGenericSensor.

Implements mrpt::hwdrivers::CGenericSensor.

Reimplemented in mrpt::hwdrivers::CLMS100Eth.

◆ doProcessSimple()

void mrpt::hwdrivers::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.

◆ enableSCIP20()

bool mrpt::hwdrivers::CHokuyoURG::enableSCIP20 ( )
private

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

Returns
false on any error

◆ 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 92 of file CGenericSensor.h.

◆ filterByExclusionAngles()

void mrpt::hwdrivers::C2DRangeFinderAbstract::filterByExclusionAngles ( mrpt::obs::CObservation2DRangeScan obs) const
protectedinherited

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

See also
loadExclusionAreas

◆ filterByExclusionAreas()

void mrpt::hwdrivers::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

◆ getExternalImageJPEGQuality()

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

Definition at line 233 of file CGenericSensor.h.

◆ getObservation()

void mrpt::hwdrivers::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).

◆ getObservations()

void mrpt::hwdrivers::CGenericSensor::getObservations ( TListObservations lstObjects)
inherited

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

The objects must be freed by the invoker.

◆ getProcessRate()

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

Definition at line 84 of file CGenericSensor.h.

◆ GetRuntimeClass()

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

◆ getSensorLabel()

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

Definition at line 86 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 189 of file CHokuyoURG.h.

◆ getState()

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

The current state of the sensor

Definition at line 82 of file CGenericSensor.h.

◆ initialize()

void mrpt::hwdrivers::CHokuyoURG::initialize ( )
privatevirtual

Turns the laser on.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

◆ isVerboseEnabled()

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

Definition at line 93 of file CGenericSensor.h.

◆ loadCommonParams()

void mrpt::hwdrivers::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

◆ loadConfig()

void mrpt::hwdrivers::CGenericSensor::loadConfig ( const mrpt::utils::CConfigFileBase configSource,
const std::string &  section 
)
inherited

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.

◆ loadConfig_sensorSpecific()

void mrpt::hwdrivers::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.

◆ printf_debug()

static void mrpt::utils::CDebugOutputCapable::printf_debug ( const char *  frmt,
  ... 
)
staticinherited

Sends a formated text to "debugOut" if not NULL, or to cout otherwise.

Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().

◆ processPreview()

void mrpt::hwdrivers::C2DRangeFinderAbstract::processPreview ( const mrpt::obs::CObservation2DRangeScan obs)
protectedinherited

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

◆ purgeBuffers()

void mrpt::hwdrivers::CHokuyoURG::purgeBuffers ( )

Empties the RX buffers of the serial port.

◆ receiveResponse()

bool mrpt::hwdrivers::CHokuyoURG::receiveResponse ( const char *  sentCmd_forEchoVerification,
char &  rcv_status0,
char &  rcv_status1,
char *  rcv_data,
int &  rcv_dataLength 
)
private

Waits for a response from the device.

Returns
false on any error

◆ registerClass()

static void mrpt::hwdrivers::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.

◆ 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 225 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 230 of file CGenericSensor.h.

◆ setHighBaudrate()

bool mrpt::hwdrivers::CHokuyoURG::setHighBaudrate ( )
private

Passes to 115200bps bitrate.

Returns
false on any error

◆ setHighSensitivityMode()

bool mrpt::hwdrivers::CHokuyoURG::setHighSensitivityMode ( bool  enabled)

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

Returns
false on any error

◆ 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 186 of file CHokuyoURG.h.

◆ setMotorSpeed()

bool mrpt::hwdrivers::CHokuyoURG::setMotorSpeed ( int  motoSpeed_rpm)
private

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

Returns
false on any error

◆ 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::exceptionIf the directory doesn't exists and cannot be created.

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

Definition at line 216 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 194 of file CHokuyoURG.h.

◆ setSensorLabel()

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

Definition at line 87 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 183 of file CHokuyoURG.h.

◆ setVerbose()

void mrpt::hwdrivers::CHokuyoURG::setVerbose ( bool  enable = true)
inline

Definition at line 201 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 mrpt::hwdrivers::CHokuyoURG::startScanningMode ( )
private

Start the scanning mode, using parameters stored in the object (loaded from the .ini file) After this command the device will start to send scans until "switchLaserOff" is called.

Returns
false on any error

◆ switchLaserOff()

bool mrpt::hwdrivers::CHokuyoURG::switchLaserOff ( )
private

Switchs the laser off.

Returns
false on any error

◆ switchLaserOn()

bool mrpt::hwdrivers::CHokuyoURG::switchLaserOn ( )
private

Switchs the laser on.

Returns
false on any error

◆ turnOff()

bool mrpt::hwdrivers::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.

◆ turnOn()

bool mrpt::hwdrivers::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.

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 211 of file CHokuyoURG.h.

◆ m_csChangeStream

synch::CCriticalSection mrpt::hwdrivers::C2DRangeFinderAbstract::m_csChangeStream
privateinherited

For being thread-safe.

Definition at line 47 of file C2DRangeFinderAbstract.h.

◆ m_csLastObservation

synch::CCriticalSection mrpt::hwdrivers::C2DRangeFinderAbstract::m_csLastObservation
privateinherited

Definition at line 47 of file C2DRangeFinderAbstract.h.

◆ m_csObjList

synch::CCriticalSection mrpt::hwdrivers::CGenericSensor::m_csObjList
privateinherited

The critical section for m_objList.

Definition at line 104 of file CGenericSensor.h.

◆ m_disable_firmware_timestamp

bool mrpt::hwdrivers::CHokuyoURG::m_disable_firmware_timestamp
protected

Definition at line 224 of file CHokuyoURG.h.

◆ 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 130 of file CGenericSensor.h.

◆ 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 131 of file CGenericSensor.h.

◆ m_firstRange

int mrpt::hwdrivers::CHokuyoURG::m_firstRange
private

Definition at line 81 of file CHokuyoURG.h.

◆ 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 117 of file CGenericSensor.h.

◆ m_grab_decimation_counter

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

Used when "m_grab_decimation" is enabled.

Definition at line 122 of file CGenericSensor.h.

◆ m_hardwareError

bool mrpt::hwdrivers::C2DRangeFinderAbstract::m_hardwareError
privateinherited

Definition at line 43 of file C2DRangeFinderAbstract.h.

◆ m_highSensMode

bool mrpt::hwdrivers::CHokuyoURG::m_highSensMode
private

High sensitivity [HS] mode (default: false)

Definition at line 89 of file CHokuyoURG.h.

◆ m_I_am_owner_serial_port

bool mrpt::hwdrivers::CHokuyoURG::m_I_am_owner_serial_port
protected

Definition at line 219 of file CHokuyoURG.h.

◆ 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 213 of file CHokuyoURG.h.

◆ m_knownClasses

std::map< std::string , const TSensorClassId *> mrpt::hwdrivers::CGenericSensor::m_knownClasses
staticprivateinherited

Used in registerClass.

Definition at line 108 of file CGenericSensor.h.

◆ m_lastObservation

mrpt::obs::CObservation2DRangeScan mrpt::hwdrivers::C2DRangeFinderAbstract::m_lastObservation
privateinherited

Definition at line 41 of file C2DRangeFinderAbstract.h.

◆ m_lastObservationIsNew

bool mrpt::hwdrivers::C2DRangeFinderAbstract::m_lastObservationIsNew
privateinherited

Definition at line 42 of file C2DRangeFinderAbstract.h.

◆ m_lastRange

int mrpt::hwdrivers::CHokuyoURG::m_lastRange
private

The first and last ranges to consider from the scan.

Definition at line 81 of file CHokuyoURG.h.

◆ m_lastSentMeasCmd

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

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

Definition at line 86 of file CHokuyoURG.h.

◆ m_lstExclusionAngles

std::vector<std::pair<double,double> > mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionAngles
privateinherited

A list of pairs of angles <init,end> such as all sensor ranges falling in those forbiden angles will be marked as invalid.

Definition at line 52 of file C2DRangeFinderAbstract.h.

◆ m_lstExclusionPolys

mrpt::obs::CObservation2DRangeScan::TListExclusionAreasWithRanges mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionPolys
privateinherited

A list of optional exclusion polygons, in coordinates relative to the vehicle, that is, taking into account the "sensorPose".

Definition at line 51 of file C2DRangeFinderAbstract.h.

◆ m_max_queue_len

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

See CGenericSensor.

Definition at line 116 of file CGenericSensor.h.

◆ m_motorSpeed_rpm

int mrpt::hwdrivers::CHokuyoURG::m_motorSpeed_rpm
private

The motor speed (default=600rpm)

Definition at line 82 of file CHokuyoURG.h.

◆ m_nextObservation

mrpt::obs::CObservation2DRangeScanPtr mrpt::hwdrivers::C2DRangeFinderAbstract::m_nextObservation
privateinherited

A dynamic object used as buffer in doProcess.

Definition at line 49 of file C2DRangeFinderAbstract.h.

◆ m_objList

TListObservations mrpt::hwdrivers::CGenericSensor::m_objList
privateinherited

The queue of objects to be returned by getObservations.

Definition at line 105 of file CGenericSensor.h.

◆ 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 129 of file CGenericSensor.h.

◆ 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 214 of file CHokuyoURG.h.

◆ m_process_rate

double mrpt::hwdrivers::CGenericSensor::m_process_rate
protectedinherited

See CGenericSensor.

Definition at line 115 of file CGenericSensor.h.

◆ m_reduced_fov

double mrpt::hwdrivers::CHokuyoURG::m_reduced_fov
protected

Used to reduce artificially the interval of scan ranges.

Definition at line 209 of file CHokuyoURG.h.

◆ m_rx_buffer

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

Auxiliary buffer for readings.

Definition at line 84 of file CHokuyoURG.h.

◆ m_sensor_info

TSensorInfo mrpt::hwdrivers::CHokuyoURG::m_sensor_info
protected

The information gathered when the laser is first open.

Definition at line 217 of file CHokuyoURG.h.

◆ m_sensorLabel

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

See CGenericSensor.

Definition at line 118 of file CGenericSensor.h.

◆ m_sensorPose

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

The sensor 6D pose:

Definition at line 83 of file CHokuyoURG.h.

◆ m_showPreview

bool mrpt::hwdrivers::C2DRangeFinderAbstract::m_showPreview
privateinherited

If true, shows a 3D window with a preview of the grabber data.

Definition at line 54 of file C2DRangeFinderAbstract.h.

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state
protectedinherited

Definition at line 124 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 222 of file CHokuyoURG.h.

◆ m_timeStartTT

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

Definition at line 223 of file CHokuyoURG.h.

◆ m_timeStartUI

uint32_t mrpt::hwdrivers::CHokuyoURG::m_timeStartUI
protected

Time of the first data packet, for synchronization purposes.

Definition at line 221 of file CHokuyoURG.h.

◆ m_verbose

bool mrpt::hwdrivers::CHokuyoURG::m_verbose
private

Definition at line 88 of file CHokuyoURG.h.

◆ m_win

mrpt::gui::CDisplayWindow3DPtr mrpt::hwdrivers::CHokuyoURG::m_win
private

Definition at line 90 of file CHokuyoURG.h.




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