9#ifndef CRoboPeakLidar_H
10#define CRoboPeakLidar_H
62 bool &outThereIsObservation,
64 bool &hardwareError );
94 const std::string &iniSection );
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
This is the base, abstract class for "software drivers" interfaces to 2D scanners (laser range finder...
Interfaces a Robo Peak LIDAR laser scanner.
virtual void initialize()
Attempts to connect and turns the laser on. Raises an exception on error.
void disconnect()
Closes the comms with the laser. Shouldn't have to be directly needed by the user.
CRoboPeakLidar()
Constructor.
virtual bool turnOff()
See base class docs.
bool getDeviceHealth() const
Returns true if the device is connected & operative.
bool checkCOMMs()
Returns true if communication has been established with the device.
virtual ~CRoboPeakLidar()
Destructor: turns the laser off.
poses::CPose3D m_sensorPose
The sensor 6D pose:
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 ...
const std::string getSerialPort()
Returns the currently set serial port.
void loadConfig_sensorSpecific(const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
See the class documentation at the top for expected parameters.
virtual bool turnOn()
See base class docs.
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,...
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
This class allows loading and storing values and vectors of different types from a configuration text...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.