mrpt::hwdrivers::C2DRangeFinderAbstract Class Reference

Detailed Description

This is the base, abstract class for "software drivers" interfaces to 2D scanners (laser range finders).

Physical devices may be interfaced through a serial port, a USB connection,etc. but this class abstract those details throught the "binding" of the specific scanner driver to a given I/O channel, which must be set by calling "hwdrivers::C2DRangeFinderAbstract::bindIO". See also the derived classes.

There is support for "exclusion polygons", areas where points, if detected, should be marked as invalid. Those areas are useful in cases where the scanner always detects part of the vehicle itself, and those points want to be ignored (see C2DRangeFinderAbstract::loadExclusionAreas).

See Also

hwdrivers::CSerialPort

Definition at line 61 of file C2DRangeFinderAbstract.h.

#include <mrpt/hwdrivers/C2DRangeFinderAbstract.h>

Inheritance diagram for mrpt::hwdrivers::C2DRangeFinderAbstract:

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
	C2DRangeFinderAbstract ()
	Default constructor.
virtual	~C2DRangeFinderAbstract ()
	Destructor.
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 void	doProcessSimple (bool &outThereIsObservation, CObservation2DRangeScan &outObservation, bool &hardwareError)=0
	Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it.
virtual bool	turnOn ()=0
	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.
virtual bool	turnOff ()=0
	Disables the scanning mode (this can be used to turn the device in low energy mode, if available)
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.
virtual void	initialize ()
	This method can or cannot be implemented in the derived class, depending on the need for it.
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
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.
virtual void	loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)=0
	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.

Protected Attributes
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 Attributes
CObservation2DRangeScan	m_lastObservation
bool	m_lastObservationIsNew
bool	m_hardwareError
synch::CCriticalSection	m_csChangeStream
	For being thread-safe.
synch::CCriticalSection	m_csLastObservation
CObservation2DRangeScanPtr	m_nextObservation
	A dynamic object used as buffer in doProcess.
CObservation2DRangeScan::TListExclusionAreasWithRanges	m_lstExclusionPolys
	A list of optional exclusion polygons, in coordinates relative to the vehicle, that is, taking into account the "sensorPose".
std::vector< std::pair< double, double > >	m_lstExclusionAngles
	A list of pairs of angles <init,end> such as all sensor ranges falling in those forbiden angles will be marked as invalid.

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::C2DRangeFinderAbstract::C2DRangeFinderAbstract

(

)

Default constructor.

virtual mrpt::hwdrivers::C2DRangeFinderAbstract::~C2DRangeFinderAbstract ( )

virtual

Destructor.

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.

void mrpt::hwdrivers::C2DRangeFinderAbstract::bindIO

(

CStream *

streamIO

)

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

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::C2DRangeFinderAbstract::doProcess ( )

virtual

Main method for a CGenericSensor.

Implements mrpt::hwdrivers::CGenericSensor.

Reimplemented in mrpt::hwdrivers::CLMS100Eth.

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

pure 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 MUST BE CALLED in a timely fashion by the user to allow the proccessing of incoming data. It can be run in a different thread safely.

Implemented in mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CSickLaserUSB, and mrpt::hwdrivers::CLMS100Eth.

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

protected

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

See Also

loadExclusionAreas

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

protected

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
	)

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.

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

inlineinherited

The current state of the sensor.

Definition at line 98 of file CGenericSensor.h.

virtual void mrpt::hwdrivers::CGenericSensor::initialize ( )

inlinevirtualinherited

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 in mrpt::hwdrivers::CKinect, mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CPtuHokuyo, mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CBoardENoses, mrpt::hwdrivers::CGyroKVHDSP3000, mrpt::hwdrivers::CLMS100Eth, mrpt::hwdrivers::CBoardDLMS, mrpt::hwdrivers::CSwissRanger3DCamera, mrpt::hwdrivers::CIMUXSens, mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors, mrpt::hwdrivers::CImpinjRFID, mrpt::hwdrivers::CNTRIPEmitter, mrpt::hwdrivers::CActivMediaRobotBase, and mrpt::hwdrivers::CIbeoLuxETH.

Definition at line 209 of file CGenericSensor.h.

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.

virtual void mrpt::hwdrivers::CGenericSensor::loadConfig_sensorSpecific ( const mrpt::utils::CConfigFileBase &  configSource, const std::string &  section  )

protectedpure virtualinherited

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.

Implemented in mrpt::hwdrivers::CKinect, mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CActivMediaRobotBase, mrpt::hwdrivers::CSwissRanger3DCamera, mrpt::hwdrivers::CLMS100Eth, mrpt::hwdrivers::CPhidgetInterfaceKitProximitySensors, mrpt::hwdrivers::CBoardSonars, mrpt::hwdrivers::CGPSInterface, mrpt::hwdrivers::CBoardIR, mrpt::hwdrivers::CIbeoLuxETH, mrpt::hwdrivers::CGyroKVHDSP3000, mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CImpinjRFID, mrpt::hwdrivers::CBoardENoses, mrpt::hwdrivers::CIMUXSens, mrpt::hwdrivers::CBoardDLMS, mrpt::hwdrivers::CSickLaserUSB, mrpt::hwdrivers::CNTRIPEmitter, mrpt::hwdrivers::CWirelessPower, mrpt::hwdrivers::CRaePID, and mrpt::hwdrivers::CPtuHokuyo.

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

protected

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().

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.

virtual bool mrpt::hwdrivers::C2DRangeFinderAbstract::turnOff ( )

pure 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.

Implemented in mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CSickLaserUSB, and mrpt::hwdrivers::CLMS100Eth.

virtual bool mrpt::hwdrivers::C2DRangeFinderAbstract::turnOn ( )

pure 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.

Implemented in mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CSickLaserUSB, and mrpt::hwdrivers::CLMS100Eth.

Member Data Documentation

synch::CCriticalSection mrpt::hwdrivers::C2DRangeFinderAbstract::m_csChangeStream

private

For being thread-safe.

Definition at line 70 of file C2DRangeFinderAbstract.h.

synch::CCriticalSection mrpt::hwdrivers::C2DRangeFinderAbstract::m_csLastObservation

private

Definition at line 70 of file C2DRangeFinderAbstract.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.

bool mrpt::hwdrivers::C2DRangeFinderAbstract::m_hardwareError

private

Definition at line 66 of file C2DRangeFinderAbstract.h.

CObservation2DRangeScan mrpt::hwdrivers::C2DRangeFinderAbstract::m_lastObservation

private

Definition at line 64 of file C2DRangeFinderAbstract.h.

bool mrpt::hwdrivers::C2DRangeFinderAbstract::m_lastObservationIsNew

private

Definition at line 65 of file C2DRangeFinderAbstract.h.

std::vector<std::pair<double,double> > mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionAngles

private

A list of pairs of angles <init,end> such as all sensor ranges falling in those forbiden angles will be marked as invalid.

Definition at line 75 of file C2DRangeFinderAbstract.h.

CObservation2DRangeScan::TListExclusionAreasWithRanges mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionPolys

private

A list of optional exclusion polygons, in coordinates relative to the vehicle, that is, taking into account the "sensorPose".

Definition at line 74 of file C2DRangeFinderAbstract.h.

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len

protectedinherited

See CGenericSensor.

Definition at line 126 of file CGenericSensor.h.

CObservation2DRangeScanPtr mrpt::hwdrivers::C2DRangeFinderAbstract::m_nextObservation

private

A dynamic object used as buffer in doProcess.

Definition at line 72 of file C2DRangeFinderAbstract.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.

double mrpt::hwdrivers::CGenericSensor::m_process_rate

protectedinherited

See CGenericSensor.

Definition at line 125 of file CGenericSensor.h.

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

protectedinherited

See CGenericSensor.

Definition at line 128 of file CGenericSensor.h.

TSensorState mrpt::hwdrivers::CGenericSensor::m_state

protectedinherited

Definition at line 134 of file CGenericSensor.h.

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

protected

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

Definition at line 81 of file C2DRangeFinderAbstract.h.