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mrpt::hwdrivers::CPtuHokuyo Class Referenceabstract

Detailed Description

Definition at line 38 of file CPtuHokuyo.h.

#include <mrpt/hwdrivers/CPtuHokuyo.h>

Inheritance diagram for mrpt::hwdrivers::CPtuHokuyo:
Inheritance graph

Classes

struct  my_pos
 

Public Types

enum  TSensorState { ssInitializing = 0 , ssWorking , ssError }
 The current state of the sensor. More...
 
typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > TListObservations
 
typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > TListObsPair
 

Public Member Functions

 CPtuHokuyo ()
 Default constructor.
 
 ~CPtuHokuyo ()
 Destructor, delete observations of the vector.
 
bool init (const std::string &portPtu, const std::string &portHokuyo)
 Initialization of laser and ptu.
 
bool scan (char &axis, const int &tWait, double &initial, double &final, const double &radPre, const int &mean, const bool &interlaced=false)
 Performs a complete scan.
 
bool continuousScan (char &axis, const double &velocity, double &initial, double &final)
 Performs a continuous scan.
 
bool saveVObs2File (const char *fname="Data.rawlog")
 Show a graphic with the points obtained from the scan or a map.
 
bool saveVObsPoints2File (const char *fname="Data.pts", const bool &colours=false)
 Save vector points of observations into a simple file.
 
bool savePitchAndDistances2File ()
 Save pitchs and raw distances of all scans.
 
void setHigh (const double &newHigh)
 Method for limit map points obtained from a scan.
 
bool obtainObs (mrpt::obs::CObservation2DRangeScan &obs)
 Obtain a observation from the laser.
 
void initialize ()
 This method can or cannot be implemented in the derived class, depending on the need for it.
 
void doProcess ()
 This method will be invoked at a minimum rate of "process_rate" (Hz)
 
virtual const mrpt::hwdrivers::TSensorClassIdGetRuntimeClass () const =0
 
TSensorState getState () const
 The current state of the sensor

 
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.
 
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".
 
void getObservations (TListObservations &lstObjects)
 Returns a list of enqueued objects, emptying it (thread-safe).
 
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).
 
void setExternalImageFormat (const std::string &ext)
 Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".
 
void setExternalImageJPEGQuality (const unsigned int quality)
 The quality of JPEG compression, when external images is enabled and the format is "jpg".
 
unsigned int getExternalImageJPEGQuality () const
 

Static Public Member Functions

static void registerClass (const TSensorClassId *pNewClass)
 Register a class into the internal list of "CGenericSensor" descendents.
 
static CGenericSensorcreateSensor (const std::string &className)
 Creates a sensor by a name of the class.
 
static CGenericSensorPtr createSensorPtr (const std::string &className)
 Just like createSensor, but returning a smart pointer to the newly created sensor object.
 

Public Attributes

CHokuyoURG laser
 
CPtuBaseptu
 
int m_ptu_type
 Specify type of ptu.
 
std::vector< mrpt::obs::CObservation2DRangeScanvObs
 
double high
 
std::vector< mrpt::hwdrivers::CPtuHokuyo::my_posv_my_pos
 
std::vector< double > v_ptu_pos
 
std::vector< double > v_ptu_time
 

Protected Member Functions

void loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)
 See the class documentation at the top for expected parameters.
 
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.
 
void appendObservation (const mrpt::utils::CSerializablePtr &obj)
 Like appendObservations() but for just one observation.
 

Protected Attributes

std::string m_ptu_port
 
char m_axis
 
double m_velocity
 
double m_initial
 
double m_final
 
double m_hokuyo_frec
 
size_t m_grab_decimation_counter
 Used when "m_grab_decimation" is enabled.
 
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.
 
std::string m_external_images_format
 The extension ("jpg","gif","png",...) that determines the format of images saved externally.
 
unsigned int m_external_images_jpeg_quality
 For JPEG images, the quality (default=95%).
 
Common settings to any sensor, loaded in "loadConfig"
double m_process_rate
 See CGenericSensor.
 
size_t m_max_queue_len
 See CGenericSensor.
 
size_t m_grab_decimation
 If set to N>=2, only 1 out of N observations will be saved to m_objList.
 
std::string m_sensorLabel
 See CGenericSensor.
 

Private Member Functions

double saveObservation (const char &axis, const int &mean)
 Save a observation from the laser into a vector of observations, calculating sensor position.
 
bool singleScan (const char &axis, const int &tWait, const int &movements, const double &radPre, const int &mean)
 Performs a simple scan.
 
int minLengthVectors (mrpt::obs::CObservation2DRangeScan &obs, std::vector< mrpt::obs::CObservation2DRangeScan > &vObsAux)
 Calculate minimum lenght of scan vectors.
 
int minLengthVectors (mrpt::obs::CObservation2DRangeScan &obs1, mrpt::obs::CObservation2DRangeScan &obs2, const int &mode)
 Calculate minimum lenght of 2 scan vectors.
 
void refineVObs (const char &axis)
 Load observations in a points map.
 
void calculateSensorPose (const char &axis, const double &pos, mrpt::obs::CObservation2DRangeScan &obs)
 Calculate the sensor pose depending teh axis of movements and the ptu position.
 
int obsPosition ()
 Obtain position of observations between first and second position in m_my_pos map.
 

Private Attributes

synch::CCriticalSection m_csObjList
 The critical section for m_objList.
 
TListObservations m_objList
 The queue of objects to be returned by getObservations.
 

Static Private Attributes

static std::map< std::string, const TSensorClassId * > m_knownClasses
 Used in registerClass.
 

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

◆ CPtuHokuyo()

mrpt::hwdrivers::CPtuHokuyo::CPtuHokuyo ( )

Default constructor.

◆ ~CPtuHokuyo()

mrpt::hwdrivers::CPtuHokuyo::~CPtuHokuyo ( )

Destructor, delete observations of the vector.

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.

◆ calculateSensorPose()

void mrpt::hwdrivers::CPtuHokuyo::calculateSensorPose ( const char &  axis,
const double &  pos,
mrpt::obs::CObservation2DRangeScan obs 
)
private

Calculate the sensor pose depending teh axis of movements and the ptu position.

◆ continuousScan()

bool mrpt::hwdrivers::CPtuHokuyo::continuousScan ( char &  axis,
const double &  velocity,
double &  initial,
double &  final 
)

Performs a continuous scan.

◆ 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.

◆ doProcess()

void mrpt::hwdrivers::CPtuHokuyo::doProcess ( )
virtual

This method will be invoked at a minimum rate of "process_rate" (Hz)

Exceptions
Thismethod must throw an exception with a descriptive message if some critical error is found.

Implements mrpt::hwdrivers::CGenericSensor.

◆ 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.

◆ getExternalImageJPEGQuality()

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

Definition at line 233 of file CGenericSensor.h.

◆ 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.

◆ getState()

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

The current state of the sensor

Definition at line 82 of file CGenericSensor.h.

◆ init()

bool mrpt::hwdrivers::CPtuHokuyo::init ( const std::string &  portPtu,
const std::string &  portHokuyo 
)

Initialization of laser and ptu.

◆ initialize()

void mrpt::hwdrivers::CPtuHokuyo::initialize ( )
virtual

This method can or cannot be implemented in the derived class, depending on the need for it.

Exceptions
Thismethod must throw an exception with a descriptive message if some critical error is found.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

◆ isVerboseEnabled()

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

Definition at line 93 of file CGenericSensor.h.

◆ 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::CPtuHokuyo::loadConfig_sensorSpecific ( const mrpt::utils::CConfigFileBase configSource,
const std::string &  section 
)
protectedvirtual

See the class documentation at the top for expected parameters.

Implements mrpt::hwdrivers::CGenericSensor.

◆ minLengthVectors() [1/2]

int mrpt::hwdrivers::CPtuHokuyo::minLengthVectors ( mrpt::obs::CObservation2DRangeScan obs,
std::vector< mrpt::obs::CObservation2DRangeScan > &  vObsAux 
)
private

Calculate minimum lenght of scan vectors.

◆ minLengthVectors() [2/2]

int mrpt::hwdrivers::CPtuHokuyo::minLengthVectors ( mrpt::obs::CObservation2DRangeScan obs1,
mrpt::obs::CObservation2DRangeScan obs2,
const int &  mode 
)
private

Calculate minimum lenght of 2 scan vectors.

◆ obsPosition()

int mrpt::hwdrivers::CPtuHokuyo::obsPosition ( )
private

Obtain position of observations between first and second position in m_my_pos map.

◆ obtainObs()

bool mrpt::hwdrivers::CPtuHokuyo::obtainObs ( mrpt::obs::CObservation2DRangeScan obs)

Obtain a observation from the laser.

◆ refineVObs()

void mrpt::hwdrivers::CPtuHokuyo::refineVObs ( const char &  axis)
private

Load observations in a points map.

Limit the valid position of scan points Refine the observations obtains from a continuous scan

◆ 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.

◆ saveObservation()

double mrpt::hwdrivers::CPtuHokuyo::saveObservation ( const char &  axis,
const int &  mean 
)
private

Save a observation from the laser into a vector of observations, calculating sensor position.

◆ savePitchAndDistances2File()

bool mrpt::hwdrivers::CPtuHokuyo::savePitchAndDistances2File ( )

Save pitchs and raw distances of all scans.

◆ saveVObs2File()

bool mrpt::hwdrivers::CPtuHokuyo::saveVObs2File ( const char *  fname = "Data.rawlog")

Show a graphic with the points obtained from the scan or a map.

Save a simple points map into a simple file (if colours==true save points with a color) Save vector of observations in a CFileOutputStream file

◆ saveVObsPoints2File()

bool mrpt::hwdrivers::CPtuHokuyo::saveVObsPoints2File ( const char *  fname = "Data.pts",
const bool &  colours = false 
)

Save vector points of observations into a simple file.

◆ scan()

bool mrpt::hwdrivers::CPtuHokuyo::scan ( char &  axis,
const int &  tWait,
double &  initial,
double &  final,
const double &  radPre,
const int &  mean,
const bool &  interlaced = false 
)

Performs a complete scan.

Parameters
<axis>Pan or Till
<tWait>Wait time betwen commands
<initial>initial position
<final>final position
<radPre>radians precision for the scan
<interlaced>if interlaced==true performs a double sweep

◆ 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.

◆ setHigh()

void mrpt::hwdrivers::CPtuHokuyo::setHigh ( const double &  newHigh)
inline

Method for limit map points obtained from a scan.

Set high between ptu tilt axis and hokuyo laser scan

Definition at line 130 of file CPtuHokuyo.h.

◆ 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.

◆ setSensorLabel()

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

Definition at line 87 of file CGenericSensor.h.

◆ singleScan()

bool mrpt::hwdrivers::CPtuHokuyo::singleScan ( const char &  axis,
const int &  tWait,
const int &  movements,
const double &  radPre,
const int &  mean 
)
private

Performs a simple scan.

Parameters
<axis>Pan or Till
<tWait>Wait time betwen commands
<movements>number total of movements
<radPre>radians precision for the scan
<vObs>reference to obsevations vector for save the observation

Member Data Documentation

◆ high

double mrpt::hwdrivers::CPtuHokuyo::high

Definition at line 68 of file CPtuHokuyo.h.

◆ laser

CHokuyoURG mrpt::hwdrivers::CPtuHokuyo::laser

Definition at line 56 of file CPtuHokuyo.h.

◆ m_axis

char mrpt::hwdrivers::CPtuHokuyo::m_axis
protected

Definition at line 46 of file CPtuHokuyo.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_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_final

double mrpt::hwdrivers::CPtuHokuyo::m_final
protected

Definition at line 47 of file CPtuHokuyo.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_hokuyo_frec

double mrpt::hwdrivers::CPtuHokuyo::m_hokuyo_frec
protected

Definition at line 47 of file CPtuHokuyo.h.

◆ m_initial

double mrpt::hwdrivers::CPtuHokuyo::m_initial
protected

Definition at line 47 of file CPtuHokuyo.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_max_queue_len

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

See CGenericSensor.

Definition at line 116 of file CGenericSensor.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_process_rate

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

See CGenericSensor.

Definition at line 115 of file CGenericSensor.h.

◆ m_ptu_port

std::string mrpt::hwdrivers::CPtuHokuyo::m_ptu_port
protected

Definition at line 45 of file CPtuHokuyo.h.

◆ m_ptu_type

int mrpt::hwdrivers::CPtuHokuyo::m_ptu_type

Specify type of ptu.

Current options are: m_ptu_type = 0 => CPtuDPerception m_ptu_type = 1 => CPtuMicos

Definition at line 63 of file CPtuHokuyo.h.

◆ m_sensorLabel

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

See CGenericSensor.

Definition at line 118 of file CGenericSensor.h.

◆ m_state

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

Definition at line 124 of file CGenericSensor.h.

◆ m_velocity

double mrpt::hwdrivers::CPtuHokuyo::m_velocity
protected

Definition at line 47 of file CPtuHokuyo.h.

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose
protectedinherited

Definition at line 125 of file CGenericSensor.h.

◆ ptu

CPtuBase* mrpt::hwdrivers::CPtuHokuyo::ptu

Definition at line 57 of file CPtuHokuyo.h.

◆ v_my_pos

std::vector<mrpt::hwdrivers::CPtuHokuyo::my_pos> mrpt::hwdrivers::CPtuHokuyo::v_my_pos

Definition at line 76 of file CPtuHokuyo.h.

◆ v_ptu_pos

std::vector<double> mrpt::hwdrivers::CPtuHokuyo::v_ptu_pos

Definition at line 77 of file CPtuHokuyo.h.

◆ v_ptu_time

std::vector<double> mrpt::hwdrivers::CPtuHokuyo::v_ptu_time

Definition at line 77 of file CPtuHokuyo.h.

◆ vObs

std::vector<mrpt::obs::CObservation2DRangeScan> mrpt::hwdrivers::CPtuHokuyo::vObs

Definition at line 65 of file CPtuHokuyo.h.




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