ArLaserLogger Class Reference

#include <ArLaserLogger.h>

List of all members.

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Detailed Description

This class can be used to create log files for the laser mapper.

This class has a pointer to a robot and a laser... every time the robot has EITHER moved the distDiff, or turned the degDiff, it will take the current readings from the laser and log them into the log file given as the fileName to the constructor. Readings can also be taken by calling takeReading which explicitly tells the logger to take a reading.

The class can also add goals, see the constructor arg addGoals for information about that... you can also explicitly have it add a goal by calling addGoal.

See also:

Laser Scan Log File Format for details on the laser scan log output file format.

Public Member Functions
void	addGoal (void)
	Adds a goal where the robot is at the moment.
void	addInfoToLog (const char *str,...)
	Adds a string to the log file without a tag for where or when we are.
void	addInfoToLogPlain (const char *str)
	Same as addToInfo, but does it without marking robot position.
void	addTagToLog (const char *str,...)
	Adds a string to the log file with a tag at the given moment.
void	addTagToLogPlain (const char *str)
	Same ass addToLog, but no varargs, wrapper for java.
	ArLaserLogger (ArRobot *robot, ArLaser *laser, double distDiff, double degDiff, const char *fileName, bool addGoals=false, ArJoyHandler *joyHandler=NULL, const char *baseDirectory=NULL, bool useReflectorValues=false, ArRobotJoyHandler *robotJoyHandler=NULL, const std::map< std::string, ArRetFunctor2< int, ArTime, ArPose * > *, ArStrCaseCmpOp > *extraLocationData=NULL)
	Constructor.
double	getDegDiff (void)
	Gets the degrees to turn at which the robot will take a new reading.
double	getDistDiff (void)
	Gets the distance at which the robot will take a new reading.
void	setDegDiff (double degDiff)
	Sets the degrees to turn at which the robot will take a new reading.
void	setDistDiff (double distDiff)
	Sets the distance at which the robot will take a new reading.
void	takeNewReadings (bool takeNew)
	Sets if we're taking old (scan1:) readings.
void	takeOldReadings (bool takeOld)
	Sets if we're taking old (sick1:) readings.
void	takeReading (void)
	Explicitly tells the robot to take a reading.
bool	takingNewReadings (void)
	Gets if we're taking new (scan1:) readings.
bool	takingOldReadings (void)
	Gets if we're taking old (sick1:) readings.
bool	wasFileOpenedSuccessfully (void)
	Sees if the file was opened successfully.
virtual	~ArLaserLogger ()
	Destructor.
Protected Member Functions
void	goalKeyCallback (void)
void	internalAddGoal (void)
void	internalPrintPos (ArPose encoderPoseTaken, ArPose goalPoseTaken, ArTime timeTaken)
void	internalTakeReading (void)
void	internalWriteTags (void)
bool	loopPacketHandler (ArRobotPacket *packet)
void	robotTask (void)
	The task which gets attached to the robot.
Protected Attributes
bool	myAddGoalExplicit
bool	myAddGoalKeyboard
bool	myAddGoals
std::string	myBaseDirectory
double	myDegDiff
double	myDistDiff
std::map< std::string, ArRetFunctor2< int, ArTime, ArPose * > *, ArStrCaseCmpOp >	myExtraLocationData
FILE *	myFile
std::string	myFileName
bool	myFirstGoalTaken
bool	myFirstTaken
bool	myFlipped
ArFunctorC< ArLaserLogger >	myGoalKeyCB
bool	myIncludeRawEncoderPose
std::list< std::string >	myInfos
ArJoyHandler *	myJoyHandler
ArLaser *	myLaser
ArPose	myLast
bool	myLastAddGoalKeyboard
ArPose	myLastGoalTakenPose
ArTime	myLastGoalTakenTime
bool	myLastJoyButton
unsigned char	myLastLoops
bool	myLastRobotJoyButton
double	myLastVel
ArRetFunctor1C< bool, ArLaserLogger, ArRobotPacket * >	myLoopPacketHandlerCB
bool	myNewReadings
int	myNumGoal
bool	myOldReadings
ArRobot *	myRobot
ArRobotJoyHandler *	myRobotJoyHandler
int	myScanNumber
ArSectors	mySectors
ArTime	myStartTime
std::list< std::string >	myTags
bool	myTakeReadingExplicit
ArFunctorC< ArLaserLogger >	myTaskCB
bool	myUseReflectorValues
bool	myWrote

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Constructor & Destructor Documentation

ArLaserLogger::ArLaserLogger (  ArRobot *  robot, ArLaser *  laser, double  distDiff, double  degDiff, const char *  fileName, bool  addGoals = false, ArJoyHandler *  joyHandler = NULL, const char *  baseDirectory = NULL, bool  useReflectorValues = false, ArRobotJoyHandler *  robotJoyHandler = NULL, const std::map< std::string, ArRetFunctor2< int, ArTime, ArPose * > *, ArStrCaseCmpOp > *  extraLocationData = NULL )

Constructor. see Laser Scan Log File Format Make sure you have called ArSick::configure() or ArSick::configureShort() on the ArSick object used when creating an instance of this class. Parameters: robot  The robot to attach to laser  the laser to log readings from. It must be initialized/configured/connected already. distDiff  the distance traveled at which to take a new reading degDiff  the degrees turned at which to take a new reading fileName  the file name in which to put the log addGoals  whether to add goals automatically or... if true then the sick logger puts hooks into places it needs this to happen, into any keyhandler thats around (for a keypress of G), it pays attention to the flag bit of the robot, and it puts in a button press callback for the joyhandler passed in (if any)

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Member Function Documentation

void ArLaserLogger::addInfoToLog (  const char *  str,   ... )

Adds a string to the log file without a tag for where or when we are. Java and Python Wrappers: Not available in Java or Python wrapper libraries.

void ArLaserLogger::addInfoToLogPlain (  const char *  str  )

Same as addToInfo, but does it without marking robot position. The robot MUST be locked before you call this function, so that this function is not adding to a list as the robotTask is using it. This function takes the given tag and puts it into the log file by itself

void ArLaserLogger::addTagToLog (  const char *  str,   ... )

Adds a string to the log file with a tag at the given moment. Java and Python Wrappers: Not available in Java or Python wrapper libraries.

void ArLaserLogger::addTagToLogPlain (  const char *  str  )

Same ass addToLog, but no varargs, wrapper for java. The robot MUST be locked before you call this function, so that this function is not adding to a list as the robotTask is using it. This function takes the given tag and puts it into the log file along with a tag as to where the robot was and when in the mapping it was

void ArLaserLogger::internalTakeReading (  void   )  [protected]

use the adjusted raw readings if we can, otherwise just use the raw readings like before Note that the the sick1: or scan1: must be the last thing in that timestamp, ie that you should put any other data before it.

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The documentation for this class was generated from the following files:

• ArLaserLogger.h
• ArLaserLogger.cpp

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