Detailed Description

This software driver implements the protocol SCIP-2.0 for interfacing HOKUYO URG, UTM and UXM laser scanners.

Refer to the wiki page for more details: http://www.mrpt.org/Example:HOKUYO_URG/UTM_Laser_Scanner

See also the application "rawlog-grabber" for a ready-to-use application to gather data from the scanner.

 PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
  [supplied_section_name]
   HOKUYO_motorSpeed_rpm=600
   //HOKUYO_HS_mode   = false    // Optional (un-comment line if used): Set/unset the High-sensitivity mode (not on all models/firmwares!)
   COM_port_WIN = COM3
   COM_port_LIN = ttyS0
   pose_x=0.21  // Laser range scaner 3D position in the robot (meters)
   pose_y=0
   pose_z=0.34
   pose_yaw=0   // Angles in degrees
   pose_pitch=0
   pose_roll=0
   //IP_DIR     =       192.168.0.10 // Uncommented this and "PORT_DIR" if the used HOKUYO is connected by Ethernet instead of USB
   //PORT_DIR = 10940
   // Optional: reduced FOV:
   // reduced_fov  = 25 // Deg
   // Optional: Exclusion zones to avoid the robot seeing itself:
   //exclusionZone1_x = 0.20 0.30 0.30 0.20
   //exclusionZone1_y = 0.20 0.30 0.30 0.20
   // Optional: Exclusion zones to avoid the robot seeing itself:
   //exclusionAngles1_ini = 20  // Deg
   //exclusionAngles1_end = 25  // Deg

Definition at line 76 of file CHokuyoURG.h.

#include <mrpt/hwdrivers/CHokuyoURG.h>

Inheritance diagram for mrpt::hwdrivers::CHokuyoURG:

[legend]

Classes
struct	TSensorInfo
	Used in CHokuyoURG::displayVersionInfo. More...

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

CHokuyoURG ()

Constructor.

virtual ~CHokuyoURG ()

Destructor: turns the laser off.

void doProcessSimple (bool &outThereIsObservation, mrpt::slam::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.

bool turnOn ()

Enables the scanning mode (which may depend on the specific laser device); this must be called before asking for observations to assure that the protocol has been initializated.

bool turnOff ()

Disables the scanning mode (this can be used to turn the device in low energy mode, if available)

void purgeBuffers ()

Empties the RX buffers of the serial port.

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.

void setIPandPort (const std::string &ip, const unsigned int &port)

Set the ip direction and port to connect using Ethernet communication.

const std::string getSerialPort ()

Returns the currently set serial port.

void setReducedFOV (const double fov)

If called (before calling "turnOn"), the field of view of the laser is reduced to the given range (in radians), discarding the rest of measures.

bool setHighSensitivityMode (bool enabled)

Changes the high sensitivity mode (HS) (default: false)

void setVerbose (bool enable=true)

void bindIO (CStream *streamIO)

Binds the object to a given I/O channel.

void getObservation (bool &outThereIsObservation, 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).

void doProcess ()

Main method for a CGenericSensor.

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 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"

Exceptions

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

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	printf_debug (const char *frmt,...)
	Sends a formated text to "debugOut" if not NULL, or to cout otherwise.

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
bool	checkCOMisOpen ()
	Returns true if there is a valid stream bound to the laser scanner, otherwise it first try to open the serial port "m_com_port".

void	loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
	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) See hwdrivers::CHokuyoURG for the possible parameters.

void	loadExclusionAreas (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
	Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles).

void	filterByExclusionAreas (CObservation2DRangeScan &obs) const
	Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons.

void	filterByExclusionAngles (CObservation2DRangeScan &obs) const
	Mark as invalid those ranges in a set of forbiden angle ranges.

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
double	m_reduced_fov
	Used to reduce artificially the interval of scan ranges.

std::string	m_com_port
	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.

std::string	m_ip_dir
	If set to non-empty and m_port_dir too, the program will try to connect to a Hokuyo using Ethernet communication.

unsigned int	m_port_dir
	If set to non-empty and m_ip_dir too, the program will try to connect to a Hokuyo using Ethernet communication.

TSensorInfo	m_sensor_info
	The information gathered when the laser is first open.

bool	m_I_am_owner_serial_port

uint32_t	m_timeStartUI
	Time of the first data packet, for synchronization purposes.

mrpt::system::TTimeStamp	m_timeStartTT

utils::CStream *	m_stream
	The I/O channel (will be NULL if not bound).

size_t	m_grab_decimation_counter
	Used when "m_grab_decimation" is enabled.

TSensorState	m_state

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
bool	enableSCIP20 ()
	Enables the SCIP2.0 protocol (this must be called at the very begining!).

bool	setHighBaudrate ()
	Passes to 115200bps bitrate.

bool	switchLaserOn ()
	Switchs the laser on.

bool	switchLaserOff ()
	Switchs the laser off.

bool	setMotorSpeed (int motoSpeed_rpm)
	Changes the motor speed in rpm's (default 600rpm)

bool	displayVersionInfo ()
	Ask to the device, and print to the debug stream, details about the firmware version,serial number,...

bool	displaySensorInfo (CHokuyoURG::TSensorInfo *out_data=NULL)
	Ask to the device, and print to the debug stream, details about the sensor model.

bool	startScanningMode ()
	Start the scanning mode, using parameters stored in the object (loaded from the .ini file) After this command the device will start to send scans until "switchLaserOff" is called.

void	initialize ()
	Turns the laser on.

bool	receiveResponse (const char sentCmd_forEchoVerification, char &rcv_status0, char &rcv_status1, char rcv_data, int &rcv_dataLength)
	Waits for a response from the device.

bool	assureBufferHasBytes (const size_t nDesiredBytes)
	Assures a minimum number of bytes in the input buffer, reading from the serial port only if required.

Private Attributes
int	m_firstRange

int	m_lastRange
	The first and last ranges to consider from the scan.

int	m_motorSpeed_rpm
	The motor speed (default=600rpm)

poses::CPose3D	m_sensorPose
	The sensor 6D pose:

mrpt::utils::circular_buffer < uint8_t >	m_rx_buffer
	Auxiliary buffer for readings.

std::string	m_lastSentMeasCmd
	The last sent measurement command (MDXXX), including the last 0x0A.

bool	m_verbose

bool	m_highSensMode
	High sensitivity [HS] mode (default: false)

Member Typedef Documentation

typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObservations

inherited

Definition at line 84 of file CGenericSensor.h.

typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObsPair

inherited

Definition at line 85 of file CGenericSensor.h.

Member Enumeration Documentation

enum mrpt::hwdrivers::CGenericSensor::TSensorState

inherited

The current state of the sensor.

See Also: CGenericSensor::getState

Enumerator
ssInitializing
ssWorking
ssError

Definition at line 90 of file CGenericSensor.h.

Constructor & Destructor Documentation

mrpt::hwdrivers::CHokuyoURG::CHokuyoURG ( )

Constructor.

virtual mrpt::hwdrivers::CHokuyoURG::~CHokuyoURG ( )

virtual

Destructor: turns the laser off.

Member Function Documentation

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::utils::CSerializablePtr & obj )

inlineprotectedinherited

Like appendObservations() but for just one observation.

Definition at line 155 of file CGenericSensor.h.

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:

CObservationGPSPtr  o = CObservationGPSPtr( new CObservationGPS() );
o-> .... // Set data
appendObservation(o);

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

bool mrpt::hwdrivers::CHokuyoURG::assureBufferHasBytes ( const size_t nDesiredBytes )

private

Assures a minimum number of bytes in the input buffer, reading from the serial port only if required.

Returns: false if the number of bytes are not available, even after trying to fetch more data from the serial port.

void mrpt::hwdrivers::C2DRangeFinderAbstract::bindIO ( CStream * streamIO )

inherited

Binds the object to a given I/O channel.

The stream object must not be deleted before the destruction of this class.

See Also: hwdrivers::CSerialPort

bool mrpt::hwdrivers::CHokuyoURG::checkCOMisOpen ( )

protected

Returns true if there is a valid stream bound to the laser scanner, otherwise it first try to open the serial port "m_com_port".

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:

CGenericSensorPtr sensor = CGenericSensorPtr( CGenericSensor::createSensor("XXX") );

Returns: A pointer to a new class, or NULL if class name is unknown.

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 188 of file CGenericSensor.h.

bool mrpt::hwdrivers::CHokuyoURG::displaySensorInfo ( CHokuyoURG::TSensorInfo * out_data = NULL )

private

Ask to the device, and print to the debug stream, details about the sensor model.

It also optionally saves all the information in an user supplied data structure "out_data".

Returns: false on any error

bool mrpt::hwdrivers::CHokuyoURG::displayVersionInfo ( )

private

Ask to the device, and print to the debug stream, details about the firmware version,serial number,...

Returns: false on any error

void mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess ( )

virtualinherited

Main method for a CGenericSensor.

Implements mrpt::hwdrivers::CGenericSensor.

Reimplemented in mrpt::hwdrivers::CLMS100Eth.

void mrpt::hwdrivers::CHokuyoURG::doProcessSimple	(	bool &	outThereIsObservation,
		mrpt::slam::CObservation2DRangeScan &	outObservation,
		bool &	hardwareError
	)

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 will be typically called in a different thread than other methods, and will be called in a timely fashion.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

bool mrpt::hwdrivers::CHokuyoURG::enableSCIP20 ( )

private

Enables the SCIP2.0 protocol (this must be called at the very begining!).

Returns: false on any error

void mrpt::hwdrivers::C2DRangeFinderAbstract::filterByExclusionAngles ( CObservation2DRangeScan & obs ) const

protectedinherited

Mark as invalid those ranges in a set of forbiden angle ranges.

See Also: loadExclusionAreas

void mrpt::hwdrivers::C2DRangeFinderAbstract::filterByExclusionAreas ( CObservation2DRangeScan & obs ) const

protectedinherited

Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons.

See Also: loadExclusionAreas

unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const

inlineinherited

Definition at line 241 of file CGenericSensor.h.

void mrpt::hwdrivers::C2DRangeFinderAbstract::getObservation	(	bool &	outThereIsObservation,
		CObservation2DRangeScan &	outObservation,
		bool &	hardwareError
	)

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).

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.

double mrpt::hwdrivers::CGenericSensor::getProcessRate ( ) const

inlineinherited

Definition at line 100 of file CGenericSensor.h.

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const

pure virtualinherited

std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const

inlineinherited

Definition at line 102 of file CGenericSensor.h.

const std::string mrpt::hwdrivers::CHokuyoURG::getSerialPort ( )

inline

Returns the currently set serial port.

See Also: setSerialPort

Definition at line 199 of file CHokuyoURG.h.

TSensorState mrpt::hwdrivers::CGenericSensor::getState ( ) const

inlineinherited

The current state of the sensor.

Definition at line 98 of file CGenericSensor.h.

void mrpt::hwdrivers::CHokuyoURG::initialize ( )

privatevirtual

Turns the laser on.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

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

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

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

protectedvirtual

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) See hwdrivers::CHokuyoURG for the possible parameters.

Implements mrpt::hwdrivers::CGenericSensor.

void mrpt::hwdrivers::C2DRangeFinderAbstract::loadExclusionAreas	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	iniSection
	)

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".

exclusionZoneu_x
exclusionZoneu_y for u=1,2,3,... All points within the 2D polygon will be ignored, for any Z, unless an optional entry is found:
exclusionZoneu_z=[z_min z_max] In that case, only the points within the 2D polygon AND the given range in Z will be ignored.

The number of zones is variable, but they must start at 1 and be consecutive.

See Also: filterByExclusionAreas

static void mrpt::utils::CDebugOutputCapable::printf_debug	(	const char *	frmt,
			...
	)

staticinherited

Sends a formated text to "debugOut" if not NULL, or to cout otherwise.

Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().

void mrpt::hwdrivers::CHokuyoURG::purgeBuffers ( )

Empties the RX buffers of the serial port.

bool mrpt::hwdrivers::CHokuyoURG::receiveResponse	(	const char *	sentCmd_forEchoVerification,
		char &	rcv_status0,
		char &	rcv_status1,
		char *	rcv_data,
		int &	rcv_dataLength
	)

private

Waits for a response from the device.

Returns: false on any error

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().

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 233 of file CGenericSensor.h.

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 238 of file CGenericSensor.h.

bool mrpt::hwdrivers::CHokuyoURG::setHighBaudrate ( )

private

Passes to 115200bps bitrate.

Returns: false on any error

bool mrpt::hwdrivers::CHokuyoURG::setHighSensitivityMode ( bool enabled )

Changes the high sensitivity mode (HS) (default: false)

Returns: false on any error

void mrpt::hwdrivers::CHokuyoURG::setIPandPort	(	const std::string &	ip,
		const unsigned int &	port
	)

inline

Set the ip direction and port to connect using Ethernet communication.

Definition at line 196 of file CHokuyoURG.h.

bool mrpt::hwdrivers::CHokuyoURG::setMotorSpeed ( int motoSpeed_rpm )

private

Changes the motor speed in rpm's (default 600rpm)

Returns: false on any error

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::exception If the directory doesn't exists and cannot be created.

Reimplemented in mrpt::hwdrivers::CKinect, mrpt::hwdrivers::CCameraSensor, and mrpt::hwdrivers::CSwissRanger3DCamera.

Definition at line 225 of file CGenericSensor.h.

void mrpt::hwdrivers::CHokuyoURG::setReducedFOV ( const double fov )

inline

If called (before calling "turnOn"), the field of view of the laser is reduced to the given range (in radians), discarding the rest of measures.

Call with "0" to disable this reduction again (the default).

Definition at line 204 of file CHokuyoURG.h.

void mrpt::hwdrivers::CGenericSensor::setSensorLabel ( const std::string & sensorLabel )

inlineinherited

Definition at line 103 of file CGenericSensor.h.

void mrpt::hwdrivers::CHokuyoURG::setSerialPort ( const std::string & port_name )

inline

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.

Definition at line 193 of file CHokuyoURG.h.

void mrpt::hwdrivers::CHokuyoURG::setVerbose ( bool enable = true )

inline

Definition at line 211 of file CHokuyoURG.h.

bool mrpt::hwdrivers::CHokuyoURG::startScanningMode ( )

private

Start the scanning mode, using parameters stored in the object (loaded from the .ini file) After this command the device will start to send scans until "switchLaserOff" is called.

Returns: false on any error

bool mrpt::hwdrivers::CHokuyoURG::switchLaserOff ( )

private

Switchs the laser off.

Returns: false on any error

bool mrpt::hwdrivers::CHokuyoURG::switchLaserOn ( )

private

Switchs the laser on.

Returns: false on any error

bool mrpt::hwdrivers::CHokuyoURG::turnOff ( )

virtual

Disables the scanning mode (this can be used to turn the device in low energy mode, if available)

Returns: If everything works "true", or "false" if there is any error.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

bool mrpt::hwdrivers::CHokuyoURG::turnOn ( )

virtual

Enables the scanning mode (which may depend on the specific laser device); this must be called before asking for observations to assure that the protocol has been initializated.

Returns: If everything works "true", or "false" if there is any error.

Implements mrpt::hwdrivers::C2DRangeFinderAbstract.

Member Data Documentation

std::string mrpt::hwdrivers::CHokuyoURG::m_com_port

protected

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.

Definition at line 221 of file CHokuyoURG.h.

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 139 of file CGenericSensor.h.

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality

protectedinherited

For JPEG images, the quality (default=95%).

Definition at line 140 of file CGenericSensor.h.

int mrpt::hwdrivers::CHokuyoURG::m_firstRange

private

Definition at line 92 of file CHokuyoURG.h.

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 127 of file CGenericSensor.h.

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter

protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 132 of file CGenericSensor.h.

bool mrpt::hwdrivers::CHokuyoURG::m_highSensMode

private

High sensitivity [HS] mode (default: false)

Definition at line 100 of file CHokuyoURG.h.

bool mrpt::hwdrivers::CHokuyoURG::m_I_am_owner_serial_port

protected

Definition at line 229 of file CHokuyoURG.h.

std::string mrpt::hwdrivers::CHokuyoURG::m_ip_dir

protected

If set to non-empty and m_port_dir too, the program will try to connect to a Hokuyo using Ethernet communication.

Definition at line 223 of file CHokuyoURG.h.

int mrpt::hwdrivers::CHokuyoURG::m_lastRange

private

The first and last ranges to consider from the scan.

Definition at line 92 of file CHokuyoURG.h.

std::string mrpt::hwdrivers::CHokuyoURG::m_lastSentMeasCmd

private

The last sent measurement command (MDXXX), including the last 0x0A.

Definition at line 97 of file CHokuyoURG.h.

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len

protectedinherited

See CGenericSensor.

Definition at line 126 of file CGenericSensor.h.

int mrpt::hwdrivers::CHokuyoURG::m_motorSpeed_rpm

private

The motor speed (default=600rpm)

Definition at line 93 of file CHokuyoURG.h.

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 138 of file CGenericSensor.h.

unsigned int mrpt::hwdrivers::CHokuyoURG::m_port_dir

protected

If set to non-empty and m_ip_dir too, the program will try to connect to a Hokuyo using Ethernet communication.

Definition at line 224 of file CHokuyoURG.h.

double mrpt::hwdrivers::CGenericSensor::m_process_rate

protectedinherited

See CGenericSensor.

Definition at line 125 of file CGenericSensor.h.

double mrpt::hwdrivers::CHokuyoURG::m_reduced_fov

protected

Used to reduce artificially the interval of scan ranges.

Definition at line 219 of file CHokuyoURG.h.

mrpt::utils::circular_buffer<uint8_t> mrpt::hwdrivers::CHokuyoURG::m_rx_buffer

private

Auxiliary buffer for readings.

Definition at line 95 of file CHokuyoURG.h.

TSensorInfo mrpt::hwdrivers::CHokuyoURG::m_sensor_info

protected

The information gathered when the laser is first open.

Definition at line 227 of file CHokuyoURG.h.

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

protectedinherited

See CGenericSensor.

Definition at line 128 of file CGenericSensor.h.

poses::CPose3D mrpt::hwdrivers::CHokuyoURG::m_sensorPose

private

The sensor 6D pose:

Definition at line 94 of file CHokuyoURG.h.

TSensorState mrpt::hwdrivers::CGenericSensor::m_state

protectedinherited

Definition at line 134 of file CGenericSensor.h.

utils::CStream* mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream

protectedinherited

The I/O channel (will be NULL if not bound).

Definition at line 81 of file C2DRangeFinderAbstract.h.

mrpt::system::TTimeStamp mrpt::hwdrivers::CHokuyoURG::m_timeStartTT

protected

Definition at line 232 of file CHokuyoURG.h.

uint32_t mrpt::hwdrivers::CHokuyoURG::m_timeStartUI

protected

Time of the first data packet, for synchronization purposes.

Definition at line 231 of file CHokuyoURG.h.

bool mrpt::hwdrivers::CHokuyoURG::m_verbose

private

Definition at line 99 of file CHokuyoURG.h.

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