This "software driver" implements the communication protocol for interfacing a Ibeo Lux laser scanners through an ethernet controller.
This class does not need to be bind, i.e. you do not need to call C2DRangeFinderAbstract::bindIO. Connection is established when user call the turnOn() method. You can pass to the class's constructor the Lux's ip address and port. Device will NOT be configured. Configuration has to be done seperately.
To get a laser scan you must proceed like that :
Definition at line 40 of file CIbeoLuxETH.h.
#include <mrpt/hwdrivers/CIbeoLuxETH.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 | |
CIbeoLuxETH (std::string _ip=std::string("10.152.36.93"), unsigned int _port=12002) | |
Constructor. | |
virtual | ~CIbeoLuxETH () |
Destructor. | |
void | doProcess () |
This function acquire a laser scan from the device. | |
void | initialize () |
This method can or cannot be implemented in the derived class, depending on the need for it. | |
void | start () |
void | makeCommandHeader (unsigned char *buffer) |
void | makeStartCommand (unsigned char *buffer) |
void | makeStopCommand (unsigned char *buffer) |
void | makeTypeCommand (unsigned char *buffer) |
virtual const mrpt::hwdrivers::TSensorClassId * | GetRuntimeClass () 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 §ion) |
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 CGenericSensor * | createSensor (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. | |
Protected Member Functions | |
void | loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection) |
Load sensor pose on the robot, or keep the default sensor pose. | |
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 | |
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 | |
void | dataCollection () |
float | convertLayerToRad (int scanlayer) |
float | convertTicksToHRad (int hticks, int hticksPerRotation) |
mrpt::poses::CPoint3D | convertToCartesian (float vrad, float hrad, float distance) |
Private Attributes | |
std::string | m_ip |
unsigned int | m_port |
mrpt::utils::CClientTCPSocket | m_client |
unsigned int | m_scanFrequency |
double | m_angleResolution |
double | m_startAngle |
double | m_stopAngle |
mrpt::poses::CPose3D | m_sensorPose |
double | m_maxRange |
double | m_beamApperture |
bool | m_run |
mrpt::system::TThreadHandle | dataCollectionThread |
float | vwinkel |
std::vector< mrpt::obs::CObservation3DRangeScan > | m_observations |
bool | m_newObs |
float | m_vAngle |
unsigned int | lastScanNumber |
unsigned int | curScanNumber |
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. | |
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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::CIbeoLuxETH::CIbeoLuxETH | ( | std::string | _ip = std::string("10.152.36.93") , |
unsigned int | _port = 12002 |
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) |
Constructor.
Note that there is default arguments, here you can customize IP Adress and TCP Port of your device.
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virtual |
Destructor.
Close communcation with the device, and free memory.
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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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private |
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private |
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private |
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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.
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private |
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virtual |
This function acquire a laser scan from the device.
If an error occured, hardwareError will be set to true. The new laser scan will be stored in the outObservation argument.
This | method throw exception if the frame received from the LMS 100 contain the following bad parameters :
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Implements mrpt::hwdrivers::CGenericSensor.
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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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inlineinherited |
Definition at line 233 of file CGenericSensor.h.
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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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inlineinherited |
The current state of the sensor
Definition at line 82 of file CGenericSensor.h.
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virtual |
This method can or cannot be implemented in the derived class, depending on the need for it.
This | method must throw an exception with a descriptive message if some critical error is found. |
Reimplemented from mrpt::hwdrivers::CGenericSensor.
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inlineinherited |
Definition at line 93 of file CGenericSensor.h.
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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 |
Load sensor pose on the robot, or keep the default sensor pose.
Implements mrpt::hwdrivers::CGenericSensor.
void mrpt::hwdrivers::CIbeoLuxETH::makeCommandHeader | ( | unsigned char * | buffer | ) |
void mrpt::hwdrivers::CIbeoLuxETH::makeStartCommand | ( | unsigned char * | buffer | ) |
void mrpt::hwdrivers::CIbeoLuxETH::makeStopCommand | ( | unsigned char * | buffer | ) |
void mrpt::hwdrivers::CIbeoLuxETH::makeTypeCommand | ( | unsigned char * | buffer | ) |
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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.
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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::COpenNI2_RGBD360, mrpt::hwdrivers::COpenNI2Sensor, 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::CIbeoLuxETH::start | ( | ) |
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private |
Definition at line 90 of file CIbeoLuxETH.h.
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private |
Definition at line 81 of file CIbeoLuxETH.h.
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private |
Definition at line 89 of file CIbeoLuxETH.h.
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private |
Definition at line 73 of file CIbeoLuxETH.h.
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private |
Definition at line 78 of file CIbeoLuxETH.h.
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private |
Definition at line 71 of file CIbeoLuxETH.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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private |
Definition at line 69 of file CIbeoLuxETH.h.
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staticprivateinherited |
Used in registerClass.
Definition at line 108 of file CGenericSensor.h.
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protectedinherited |
See CGenericSensor.
Definition at line 116 of file CGenericSensor.h.
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private |
Definition at line 77 of file CIbeoLuxETH.h.
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private |
Definition at line 87 of file CIbeoLuxETH.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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private |
Definition at line 86 of file CIbeoLuxETH.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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private |
Definition at line 70 of file CIbeoLuxETH.h.
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protectedinherited |
See CGenericSensor.
Definition at line 115 of file CGenericSensor.h.
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private |
Definition at line 79 of file CIbeoLuxETH.h.
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Definition at line 72 of file CIbeoLuxETH.h.
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protectedinherited |
See CGenericSensor.
Definition at line 118 of file CGenericSensor.h.
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Definition at line 76 of file CIbeoLuxETH.h.
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Definition at line 74 of file CIbeoLuxETH.h.
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protectedinherited |
Definition at line 124 of file CGenericSensor.h.
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Definition at line 75 of file CIbeoLuxETH.h.
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Definition at line 88 of file CIbeoLuxETH.h.
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protectedinherited |
Definition at line 125 of file CGenericSensor.h.
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private |
Definition at line 85 of file CIbeoLuxETH.h.
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