ArUrg Class Reference

#include <ArUrg.h>

Inheritance diagram for ArUrg:

List of all members.

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Detailed Description

Hokuyu Urg laser range device. Connects using the Urg's serial port connector (not USB).

Public Member Functions
	ArUrg (int laserNumber, const char *name="urg")
	Constructor.
virtual bool	asyncConnect (void)
virtual bool	blockingConnect (void)
virtual bool	disconnect (void)
virtual bool	isConnected (void)
virtual bool	isTryingToConnect (void)
void	log (void)
	Logs the information about the sensor.
	~ArUrg ()
	Destructor.
Protected Member Functions
void	clear (void)
void	failedToConnect (void)
virtual bool	laserCheckParams (void)
virtual void	laserSetName (const char *name)
bool	readLine (char *buf, unsigned int size, unsigned int msWait)
	internal call to read a string from the urg
virtual void *	runThread (void *arg)
void	sensorInterp (void)
bool	setParams (double startingDegrees=-135, double endingDegrees=135, double incrementDegrees=1, bool flipped=false)
	Sets the parameters that control what data you get from the urg.
bool	setParamsBySteps (int startingStep=0, int endingStep=768, int clusterCount=3, bool flipped=false)
	Sets the parameters that control what data you get from the urg.
virtual void	setRobot (ArRobot *robot)
bool	writeString (const char *str)
	internal call to write a string to the urg
Protected Attributes
ArRetFunctorC< bool, ArUrg >	myAriaExitCB
int	myClusterCount
double	myClusterMiddleAngle
ArMutex	myDataMutex
int	myEndingStep
std::string	myFirmwareVersion
bool	myFlipped
bool	myIsConnected
bool	myLogMore
std::string	myProduct
std::string	myProtocolVersion
std::string	myReading
ArMutex	myReadingMutex
ArTime	myReadingRequested
char	myRequestString [1024]
ArFunctorC< ArUrg >	mySensorInterpTask
std::string	mySerialNumber
bool	myStartConnect
int	myStartingStep
std::string	myStat
bool	myTryingToConnect
std::string	myVendor

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Member Function Documentation

bool ArUrg::setParamsBySteps (  int  startingStep = 0, int  endingStep = 768, int  clusterCount = 3, bool  flipped = false )  [protected]

Sets the parameters that control what data you get from the urg. FLIPPED

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

• ArUrg.h
• ArUrg.cpp

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