mrpt::hwdrivers::CIbeoLuxETH Class Reference

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 64 of file CIbeoLuxETH.h.

#include <mrpt/hwdrivers/CIbeoLuxETH.h>

Inheritance diagram for mrpt::hwdrivers::CIbeoLuxETH:

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 (string _ip=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	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	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
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)
CPoint3D	convertToCartesian (float vrad, float hrad, float distance)

Private Attributes
string	m_ip
unsigned int	m_port
CClientTCPSocket	m_client
unsigned int	m_scanFrequency
double	m_angleResolution
double	m_startAngle
double	m_stopAngle
CPose3D	m_sensorPose
double	m_maxRange
double	m_beamApperture
bool	m_run
mrpt::system::TThreadHandle	dataCollectionThread
float	vwinkel
vector< CObservation3DRangeScan >	m_observations
bool	m_newObs
float	m_vAngle
unsigned int	lastScanNumber
unsigned int	curScanNumber

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::CIbeoLuxETH::CIbeoLuxETH	(	string	_ip = 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.

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

virtual

Destructor.

Close communcation with the device, and free memory.

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.

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

private

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

private

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

private

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.

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

private

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

This	method 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.

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

inlineinherited

Definition at line 241 of file CGenericSensor.h.

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.

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

inlineinherited

The current state of the sensor.

Definition at line 98 of file CGenericSensor.h.

void mrpt::hwdrivers::CIbeoLuxETH::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::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::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.

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

)

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.

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::CGenericSensor::setSensorLabel ( const std::string &  sensorLabel )

inlineinherited

Definition at line 103 of file CGenericSensor.h.

void mrpt::hwdrivers::CIbeoLuxETH::start

(

)

Member Data Documentation

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

private

Definition at line 114 of file CIbeoLuxETH.h.

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

private

Definition at line 105 of file CIbeoLuxETH.h.

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

private

Definition at line 113 of file CIbeoLuxETH.h.

double mrpt::hwdrivers::CIbeoLuxETH::m_angleResolution

private

Definition at line 97 of file CIbeoLuxETH.h.

double mrpt::hwdrivers::CIbeoLuxETH::m_beamApperture

private

Definition at line 102 of file CIbeoLuxETH.h.

CClientTCPSocket mrpt::hwdrivers::CIbeoLuxETH::m_client

private

Definition at line 95 of file CIbeoLuxETH.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.

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.

string mrpt::hwdrivers::CIbeoLuxETH::m_ip

private

Definition at line 93 of file CIbeoLuxETH.h.

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len

protectedinherited

See CGenericSensor.

Definition at line 126 of file CGenericSensor.h.

double mrpt::hwdrivers::CIbeoLuxETH::m_maxRange

private

Definition at line 101 of file CIbeoLuxETH.h.

bool mrpt::hwdrivers::CIbeoLuxETH::m_newObs

private

Definition at line 111 of file CIbeoLuxETH.h.

vector<CObservation3DRangeScan> mrpt::hwdrivers::CIbeoLuxETH::m_observations

private

Definition at line 110 of file CIbeoLuxETH.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::CIbeoLuxETH::m_port

private

Definition at line 94 of file CIbeoLuxETH.h.

double mrpt::hwdrivers::CGenericSensor::m_process_rate

protectedinherited

See CGenericSensor.

Definition at line 125 of file CGenericSensor.h.

bool mrpt::hwdrivers::CIbeoLuxETH::m_run

private

Definition at line 103 of file CIbeoLuxETH.h.

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

private

Definition at line 96 of file CIbeoLuxETH.h.

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

protectedinherited

See CGenericSensor.

Definition at line 128 of file CGenericSensor.h.

CPose3D mrpt::hwdrivers::CIbeoLuxETH::m_sensorPose

private

Definition at line 100 of file CIbeoLuxETH.h.

double mrpt::hwdrivers::CIbeoLuxETH::m_startAngle

private

Definition at line 98 of file CIbeoLuxETH.h.

TSensorState mrpt::hwdrivers::CGenericSensor::m_state

protectedinherited

Definition at line 134 of file CGenericSensor.h.

double mrpt::hwdrivers::CIbeoLuxETH::m_stopAngle

private

Definition at line 99 of file CIbeoLuxETH.h.

float mrpt::hwdrivers::CIbeoLuxETH::m_vAngle

private

Definition at line 112 of file CIbeoLuxETH.h.

float mrpt::hwdrivers::CIbeoLuxETH::vwinkel

private

Definition at line 109 of file CIbeoLuxETH.h.