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mrpt::hwdrivers::CIbeoLuxETH Class Referenceabstract

Detailed Description

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 :

CIbeoLuxETH laser(string("192.168.0.10"), 1234);
laser.turnOn();
bool isOutObs, hardwareError;
CObservation2DRangeScan outObs;
laser.doProcessSimple(isOutObs, outObs, hardwareError);
Note
This class was contributed by Adrien Barral - Robopec (France)
And modified by Jan Girlich - University of Hamburg

Definition at line 40 of file CIbeoLuxETH.h.

#include <mrpt/hwdrivers/CIbeoLuxETH.h>

Inheritance diagram for mrpt::hwdrivers::CIbeoLuxETH:
Inheritance graph

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. More...
 
virtual ~CIbeoLuxETH ()
 Destructor. More...
 
void doProcess ()
 This function acquire a laser scan from the device. More...
 
void initialize ()
 This method can or cannot be implemented in the derived class, depending on the need for it. More...
 
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::TSensorClassIdGetRuntimeClass () 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 &section)
 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 registerClass (const TSensorClassId *pNewClass)
 Register a class into the internal list of "CGenericSensor" descendents. More...
 
static CGenericSensorcreateSensor (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

void loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
 Load sensor pose on the robot, or keep the default sensor pose. 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

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 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::CObservation3DRangeScanm_observations
 
bool m_newObs
 
float m_vAngle
 
unsigned int lastScanNumber
 
unsigned int curScanNumber
 
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...
 

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

◆ CIbeoLuxETH()

mrpt::hwdrivers::CIbeoLuxETH::CIbeoLuxETH ( std::string  _ip = std::string("10.152.36.93"),
unsigned int  _port = 12002 
)

Constructor.

Note that there is default arguments, here you can customize IP Adress and TCP Port of your device.

◆ ~CIbeoLuxETH()

virtual mrpt::hwdrivers::CIbeoLuxETH::~CIbeoLuxETH ( )
virtual

Destructor.

Close communcation with the device, and free memory.

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

If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.

◆ convertLayerToRad()

float mrpt::hwdrivers::CIbeoLuxETH::convertLayerToRad ( int  scanlayer)
private

◆ convertTicksToHRad()

float mrpt::hwdrivers::CIbeoLuxETH::convertTicksToHRad ( int  hticks,
int  hticksPerRotation 
)
private

◆ convertToCartesian()

mrpt::poses::CPoint3D mrpt::hwdrivers::CIbeoLuxETH::convertToCartesian ( float  vrad,
float  hrad,
float  distance 
)
private

◆ 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:

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.

◆ dataCollection()

void mrpt::hwdrivers::CIbeoLuxETH::dataCollection ( )
private

◆ doProcess()

void mrpt::hwdrivers::CIbeoLuxETH::doProcess ( )
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.

Exceptions
Thismethod throw exception if the frame received from the LMS 100 contain the following bad parameters :
  • Status is not OK
  • Data in the scan aren't DIST1 (may be RSSIx or DIST2).

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.

◆ initialize()

void mrpt::hwdrivers::CIbeoLuxETH::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::CIbeoLuxETH::loadConfig_sensorSpecific ( const mrpt::utils::CConfigFileBase configSource,
const std::string &  iniSection 
)
protectedvirtual

Load sensor pose on the robot, or keep the default sensor pose.

Implements mrpt::hwdrivers::CGenericSensor.

◆ makeCommandHeader()

void mrpt::hwdrivers::CIbeoLuxETH::makeCommandHeader ( unsigned char *  buffer)

◆ makeStartCommand()

void mrpt::hwdrivers::CIbeoLuxETH::makeStartCommand ( unsigned char *  buffer)

◆ makeStopCommand()

void mrpt::hwdrivers::CIbeoLuxETH::makeStopCommand ( unsigned char *  buffer)

◆ makeTypeCommand()

void mrpt::hwdrivers::CIbeoLuxETH::makeTypeCommand ( unsigned char *  buffer)

◆ 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.

Referenced by mrpt::hwdrivers::CGenericSensor::CLASSINIT_GENERIC_SENSOR::CLASSINIT_GENERIC_SENSOR().

◆ 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.

◆ 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::COpenNI2Sensor, mrpt::hwdrivers::COpenNI2_RGBD360, 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.

◆ start()

void mrpt::hwdrivers::CIbeoLuxETH::start ( )

Member Data Documentation

◆ curScanNumber

unsigned int mrpt::hwdrivers::CIbeoLuxETH::curScanNumber
private

Definition at line 90 of file CIbeoLuxETH.h.

◆ dataCollectionThread

mrpt::system::TThreadHandle mrpt::hwdrivers::CIbeoLuxETH::dataCollectionThread
private

Definition at line 81 of file CIbeoLuxETH.h.

◆ lastScanNumber

unsigned int mrpt::hwdrivers::CIbeoLuxETH::lastScanNumber
private

Definition at line 89 of file CIbeoLuxETH.h.

◆ m_angleResolution

double mrpt::hwdrivers::CIbeoLuxETH::m_angleResolution
private

Definition at line 73 of file CIbeoLuxETH.h.

◆ m_beamApperture

double mrpt::hwdrivers::CIbeoLuxETH::m_beamApperture
private

Definition at line 78 of file CIbeoLuxETH.h.

◆ m_client

mrpt::utils::CClientTCPSocket mrpt::hwdrivers::CIbeoLuxETH::m_client
private

Definition at line 71 of file CIbeoLuxETH.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_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_ip

std::string mrpt::hwdrivers::CIbeoLuxETH::m_ip
private

Definition at line 69 of file CIbeoLuxETH.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_maxRange

double mrpt::hwdrivers::CIbeoLuxETH::m_maxRange
private

Definition at line 77 of file CIbeoLuxETH.h.

◆ m_newObs

bool mrpt::hwdrivers::CIbeoLuxETH::m_newObs
private

Definition at line 87 of file CIbeoLuxETH.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_observations

std::vector<mrpt::obs::CObservation3DRangeScan> mrpt::hwdrivers::CIbeoLuxETH::m_observations
private

Definition at line 86 of file CIbeoLuxETH.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_port

unsigned int mrpt::hwdrivers::CIbeoLuxETH::m_port
private

Definition at line 70 of file CIbeoLuxETH.h.

◆ m_process_rate

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

See CGenericSensor.

Definition at line 115 of file CGenericSensor.h.

◆ m_run

bool mrpt::hwdrivers::CIbeoLuxETH::m_run
private

Definition at line 79 of file CIbeoLuxETH.h.

◆ m_scanFrequency

unsigned int mrpt::hwdrivers::CIbeoLuxETH::m_scanFrequency
private

Definition at line 72 of file CIbeoLuxETH.h.

◆ m_sensorLabel

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

See CGenericSensor.

Definition at line 118 of file CGenericSensor.h.

◆ m_sensorPose

mrpt::poses::CPose3D mrpt::hwdrivers::CIbeoLuxETH::m_sensorPose
private

Definition at line 76 of file CIbeoLuxETH.h.

◆ m_startAngle

double mrpt::hwdrivers::CIbeoLuxETH::m_startAngle
private

Definition at line 74 of file CIbeoLuxETH.h.

◆ m_state

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

Definition at line 124 of file CGenericSensor.h.

◆ m_stopAngle

double mrpt::hwdrivers::CIbeoLuxETH::m_stopAngle
private

Definition at line 75 of file CIbeoLuxETH.h.

◆ m_vAngle

float mrpt::hwdrivers::CIbeoLuxETH::m_vAngle
private

Definition at line 88 of file CIbeoLuxETH.h.

◆ m_verbose

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

Definition at line 125 of file CGenericSensor.h.

◆ vwinkel

float mrpt::hwdrivers::CIbeoLuxETH::vwinkel
private

Definition at line 85 of file CIbeoLuxETH.h.

mrpt::hwdrivers::CGenericSensor::createSensor
static CGenericSensor * createSensor(const std::string &className)
Creates a sensor by a name of the class.
mrpt::hwdrivers::CGenericSensor::appendObservation
void appendObservation(const mrpt::utils::CSerializablePtr &obj)
Like appendObservations() but for just one observation.
Definition: CGenericSensor.h:146
mrpt::hwdrivers::CIbeoLuxETH::CIbeoLuxETH
CIbeoLuxETH(std::string _ip=std::string("10.152.36.93"), unsigned int _port=12002)
Constructor.
mrpt::hwdrivers::CGenericSensorPtr
stlplus::smart_ptr< CGenericSensor > CGenericSensorPtr
Definition: CGenericSensor.h:41



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