Interfaces a Robo Peak LIDAR laser scanner.
See the example "samples/RoboPeakLidar_laser_test" and the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner.
Definition at line 51 of file CRoboPeakLidar.h.
#include <mrpt/hwdrivers/CRoboPeakLidar.h>
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 | |
CRoboPeakLidar () | |
Constructor. More... | |
virtual | ~CRoboPeakLidar () |
Destructor: turns the laser off. More... | |
virtual void | initialize () |
Attempts to connect and turns the laser on. Raises an exception on error. More... | |
virtual void | doProcessSimple (bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError) |
Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it. More... | |
void | 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... | |
const std::string | getSerialPort () |
Returns the currently set serial port. More... | |
virtual bool | turnOn () |
See base class docs. More... | |
virtual bool | turnOff () |
See base class docs. More... | |
bool | getDeviceHealth () const |
Returns true if the device is connected & operative. More... | |
void | disconnect () |
Closes the comms with the laser. Shouldn't have to be directly needed by the user. More... | |
void | showPreview (bool enable=true) |
Enables GUI visualization in real-time. More... | |
void | bindIO (mrpt::utils::CStream *streamIO) |
Binds the object to a given I/O channel. More... | |
void | getObservation (bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError) |
Get the last observation from the sensor, if available, and unmarks it as being "the last one" (thus a new scan must arrive or subsequent calls will find no new observations). More... | |
void | doProcess () |
Main method for a CGenericSensor. More... | |
virtual const mrpt::hwdrivers::TSensorClassId * | GetRuntimeClass () const =0 |
TSensorState | getState () const |
The current state of the sensor More... | |
double | getProcessRate () const |
std::string | getSensorLabel () const |
void | setSensorLabel (const std::string &sensorLabel) |
void | enableVerbose (bool enabled=true) |
Enable or disable extra debug info dumped to std::cout during sensor operation. More... | |
bool | isVerboseEnabled () const |
void | loadConfig (const mrpt::utils::CConfigFileBase &configSource, const std::string §ion) |
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 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 | checkCOMMs () |
Returns true if communication has been established with the device. 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 | |
poses::CPose3D | m_sensorPose |
The sensor 6D pose: More... | |
std::string | m_com_port |
int | m_com_port_baudrate |
void * | m_rplidar_drv |
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 Attributes | |
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... | |
mrpt::gui::CDisplayWindow3DPtr | m_win |
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... | |
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inherited |
Definition at line 68 of file CGenericSensor.h.
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inherited |
Definition at line 69 of file CGenericSensor.h.
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inherited |
The current state of the sensor.
Enumerator | |
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ssInitializing | |
ssWorking | |
ssError |
Definition at line 74 of file CGenericSensor.h.
mrpt::hwdrivers::CRoboPeakLidar::CRoboPeakLidar | ( | ) |
Constructor.
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virtual |
Destructor: turns the laser off.
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inlineprotectedinherited |
Like appendObservations() but for just one observation.
Definition at line 146 of file CGenericSensor.h.
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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:
If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.
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inherited |
Binds the object to a given I/O channel.
The stream object must not be deleted before the destruction of this class.
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protected |
Returns true if communication has been established with the device.
If it's not, try to create a comms channel.
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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:
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inlinestaticinherited |
Just like createSensor, but returning a smart pointer to the newly created sensor object.
Definition at line 179 of file CGenericSensor.h.
void mrpt::hwdrivers::CRoboPeakLidar::disconnect | ( | ) |
Closes the comms with the laser. Shouldn't have to be directly needed by the user.
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virtualinherited |
Main method for a CGenericSensor.
Implements mrpt::hwdrivers::CGenericSensor.
Reimplemented in mrpt::hwdrivers::CLMS100Eth.
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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 MUST BE CALLED in a timely fashion by the user to allow the proccessing of incoming data. It can be run in a different thread safely.
Implements mrpt::hwdrivers::C2DRangeFinderAbstract.
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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.
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protectedinherited |
Mark as invalid those ranges in a set of forbiden angle ranges.
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protectedinherited |
Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons.
bool mrpt::hwdrivers::CRoboPeakLidar::getDeviceHealth | ( | ) | const |
Returns true if the device is connected & operative.
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inlineinherited |
Definition at line 233 of file CGenericSensor.h.
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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).
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inherited |
Returns a list of enqueued objects, emptying it (thread-safe).
The objects must be freed by the invoker.
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inlineinherited |
Definition at line 84 of file CGenericSensor.h.
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pure virtualinherited |
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inlineinherited |
Definition at line 86 of file CGenericSensor.h.
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inline |
Returns the currently set serial port.
Definition at line 68 of file CRoboPeakLidar.h.
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inlineinherited |
The current state of the sensor
Definition at line 82 of file CGenericSensor.h.
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virtual |
Attempts to connect and turns the laser on. Raises an exception on error.
Reimplemented from mrpt::hwdrivers::CGenericSensor.
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inlineinherited |
Definition at line 93 of file CGenericSensor.h.
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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".
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')
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inherited |
Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".
This | method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value. |
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protectedvirtual |
See the class documentation at the top for expected parameters.
Implements mrpt::hwdrivers::CGenericSensor.
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staticinherited |
Sends a formated text to "debugOut" if not NULL, or to cout otherwise.
Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().
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protectedinherited |
Must be called inside the capture method to allow optional GUI preview of scans.
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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.
Referenced by mrpt::hwdrivers::CGenericSensor::CLASSINIT_GENERIC_SENSOR::CLASSINIT_GENERIC_SENSOR().
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inlineinherited |
Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".
Definition at line 225 of file CGenericSensor.h.
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inlineinherited |
The quality of JPEG compression, when external images is enabled and the format is "jpg".
Definition at line 230 of file CGenericSensor.h.
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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.
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 216 of file CGenericSensor.h.
References MRPT_UNUSED_PARAM.
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inlineinherited |
Definition at line 87 of file CGenericSensor.h.
void mrpt::hwdrivers::CRoboPeakLidar::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.
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inlineinherited |
Enables GUI visualization in real-time.
Definition at line 95 of file C2DRangeFinderAbstract.h.
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virtual |
See base class docs.
Implements mrpt::hwdrivers::C2DRangeFinderAbstract.
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virtual |
See base class docs.
Implements mrpt::hwdrivers::C2DRangeFinderAbstract.
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protected |
Definition at line 80 of file CRoboPeakLidar.h.
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protected |
Definition at line 81 of file CRoboPeakLidar.h.
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privateinherited |
For being thread-safe.
Definition at line 47 of file C2DRangeFinderAbstract.h.
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privateinherited |
Definition at line 47 of file C2DRangeFinderAbstract.h.
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privateinherited |
The critical section for m_objList.
Definition at line 104 of file CGenericSensor.h.
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protectedinherited |
The extension ("jpg","gif","png",...) that determines the format of images saved externally.
Definition at line 130 of file CGenericSensor.h.
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protectedinherited |
For JPEG images, the quality (default=95%).
Definition at line 131 of file CGenericSensor.h.
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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.
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protectedinherited |
Used when "m_grab_decimation" is enabled.
Definition at line 122 of file CGenericSensor.h.
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privateinherited |
Definition at line 43 of file C2DRangeFinderAbstract.h.
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staticprivateinherited |
Used in registerClass.
Definition at line 108 of file CGenericSensor.h.
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privateinherited |
Definition at line 41 of file C2DRangeFinderAbstract.h.
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privateinherited |
Definition at line 42 of file C2DRangeFinderAbstract.h.
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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.
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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.
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protectedinherited |
See CGenericSensor.
Definition at line 116 of file CGenericSensor.h.
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privateinherited |
A dynamic object used as buffer in doProcess.
Definition at line 49 of file C2DRangeFinderAbstract.h.
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privateinherited |
The queue of objects to be returned by getObservations.
Definition at line 105 of file CGenericSensor.h.
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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.
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protectedinherited |
See CGenericSensor.
Definition at line 115 of file CGenericSensor.h.
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protected |
Definition at line 82 of file CRoboPeakLidar.h.
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protectedinherited |
See CGenericSensor.
Definition at line 118 of file CGenericSensor.h.
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protected |
The sensor 6D pose:
Definition at line 79 of file CRoboPeakLidar.h.
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privateinherited |
If true, shows a 3D window with a preview of the grabber data.
Definition at line 54 of file C2DRangeFinderAbstract.h.
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protectedinherited |
Definition at line 124 of file CGenericSensor.h.
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protectedinherited |
The I/O channel (will be NULL if not bound).
Definition at line 58 of file C2DRangeFinderAbstract.h.
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protectedinherited |
Definition at line 125 of file CGenericSensor.h.
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privateinherited |
Definition at line 55 of file C2DRangeFinderAbstract.h.
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