mrpt::hwdrivers::CPtuHokuyo Class Reference

#include <mrpt/hwdrivers/CPtuHokuyo.h>

Inheritance diagram for mrpt::hwdrivers::CPtuHokuyo:

List of all members.

Classes

struct my_pos

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 showGraphic (mrpt::slam::CSimplePointsMap *theMap=0)

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

bool saveMap2File (mrpt::slam::CSimplePointsMap &theMap, char *fname="Data.pts", const bool &colours=false)

Save a simple points map into a simple file (if colours==true save points with a color).

bool saveVObs2File (char *fname="Data.rawlog")

Save vector of observations in a CFileOutputStream file.

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

Save vector points of observations into a simple file.

void limit (mrpt::slam::CSimplePointsMap &theMap)

Method for limit map points obtained from a scan.

void setHigh (const double &newHigh)

Set high between ptu tilt axis and hokuyo laser scan.

bool obtainObs (mrpt::slam::CObservation2DRangeScan &obs)

Obtain a observation from the laser.

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

Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes)
Exceptions:

This method must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value.

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)
Exceptions:

This method must throw an exception with a descriptive message if some critical error is found.

Public Attributes

CHokuyoURG laser

CPtuBase * ptu

std::vector
< mrpt::slam::CObservation2DRangeScan > vObs

double high

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

std::vector< double > v_ptu_pos

std::vector< double > v_ptu_time

Protected Attributes

std::string m_ptu_port

char m_axis

double m_velocity

double m_initial

double m_final

double m_hokuyo_frec

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::slam::CObservation2DRangeScan &obs, std::vector< mrpt::slam::CObservation2DRangeScan > &vObsAux)

Calculate minimum lenght of scan vectors.

int minLengthVectors (mrpt::slam::CObservation2DRangeScan &obs1, mrpt::slam::CObservation2DRangeScan &obs2, const int &mode)

Calculate minimum lenght of 2 scan vectors.

void loadObs2PointsMap (mrpt::slam::CSimplePointsMap &theMap)

Load observations in a points map.

bool limitScan (const char &axis, double &low, double &high, mrpt::slam::CSimplePointsMap &theMap)

Limit the valid position of scan points.

void refineVObs (const char &axis)

Refine the observations obtains from a continuous scan.

void calculateSensorPose (const char &axis, const double &pos, mrpt::slam::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.

Detailed Description

Definition at line 58 of file CPtuHokuyo.h.

Constructor & Destructor Documentation

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

Default constructor.

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

Destructor, delete observations of the vector.

Member Function Documentation

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

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

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

Performs a continuous scan.

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

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

Exceptions:

This

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

Implements mrpt::hwdrivers::CGenericSensor.

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

Initialization of laser and ptu.

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

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

Exceptions:

This

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

Reimplemented from mrpt::hwdrivers::CGenericSensor.

void mrpt::hwdrivers::CPtuHokuyo::limit ( mrpt::slam::CSimplePointsMap & theMap )

Method for limit map points obtained from a scan.

bool mrpt::hwdrivers::CPtuHokuyo::limitScan	(	const char &	axis,
		double &	low,
		double &	high,
		mrpt::slam::CSimplePointsMap &	theMap
	)			`[private]`

Limit the valid position of scan points.

void mrpt::hwdrivers::CPtuHokuyo::loadConfig	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	section
	)			`[virtual]`

Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes)

Exceptions:

This

method must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value.

Implements mrpt::hwdrivers::CGenericSensor.

void mrpt::hwdrivers::CPtuHokuyo::loadObs2PointsMap ( mrpt::slam::CSimplePointsMap & theMap ) [private]

Load observations in a points map.

int mrpt::hwdrivers::CPtuHokuyo::minLengthVectors	(	mrpt::slam::CObservation2DRangeScan &	obs1,
		mrpt::slam::CObservation2DRangeScan &	obs2,
		const int &	mode
	)			`[private]`

Calculate minimum lenght of 2 scan vectors.

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

Calculate minimum lenght of scan vectors.

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

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

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

Obtain a observation from the laser.

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

Refine the observations obtains from a continuous scan.

bool mrpt::hwdrivers::CPtuHokuyo::saveMap2File	(	mrpt::slam::CSimplePointsMap &	theMap,
		char *	fname = `"Data.pts"`,
		const bool &	colours = `false`
	)

Save a simple points map into a simple file (if colours==true save points with a color).

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.

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

Save vector of observations in a CFileOutputStream file.

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

Save vector points of observations into a simple file.

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

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

Set high between ptu tilt axis and hokuyo laser scan.

Definition at line 137 of file CPtuHokuyo.h.

bool mrpt::hwdrivers::CPtuHokuyo::showGraphic ( mrpt::slam::CSimplePointsMap * theMap = 0 )

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

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