ArLaser Class Reference

#include <ArLaser.h>

Inheritance diagram for ArLaser:

List of all members.

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Detailed Description

This class is a subclass of ArRangeDeviceThreaded meant for any planar scanning lasers, like the SICK lasers, Hokoyo URG series lasers, etc. Unlike most base classes this contains the superset of everything that may need to be configured on any of the sensors, this is so that the configuration and parameter files don't have to deal with anything sensor specific.

To see the different things you can set on a laser, call the functions canSetDegrees, canChooseRange, canSetIncrement, canChooseIncrement, canChooseUnits, canChooseReflectorBits, canSetPowerControlled, canChooseStartBaud, and canChooseAutoBaud to see what is available (the help for each of those tells you what functions they are associated with, and for each function associated with one of those it tells you to see the associated function). You should probably just use the ArLaserConnector to do this though, unless you are a very advanced user with a specific goal.

If you want to create your own new laser class to deal with sensors that are not default in ARIA, you can do that more easily now. All the laser* calls are ones meant for the inheriting laser classes to call, they all have help that says what they are meant for. ArUrg is the best current example to show how to use it all (and the smallest and most self contained). A brief overview is you should use the laserAllow* calls to set up what settings the new laser will allow. You may also want to use the override the laserSetName call so that your own mutexes will get named appropriately. You can use laserSetDefaultTcpPort to set the default TCP port (which you should do if the laser normally is connected to over TCP). You can use laserSetDefaultPortType to the type of port normally used (so that if a port is passed in we can make a reasonable guess as to what type, so that people don't always have to pass in a type). Before you connect you should call laserPullUnsetParams to fill in the parameters that weren't set explicitly with the default ones in the .p files. If the maximum range of the laser changes depending on settings (like on the LMS2xx) you should call laserSetAbsoluteMaxRange (after you call laserPullUnsetParamsFromRobot). Implement the blockingConnect, asyncConnect, disconnect, isConnected, and isTryingToConnect calls... while calling laserConnect, laserFailedConnect, laserDisconnectNormally, and laserDisconnectOnError calls to let the laser base class call the appropriate callbacks. You should use the laserCheckLostConnection in your runThread to see if the laser has lost connection (see its documentation for details). Then after you get your readings call laserProcessReadings to fill them from the raw buffer into the current and cumulative buffer (and call the reading callbacks). The internal* calls are all internal to the base class and shouldn't have to be used by inheriting classes. After you have created a new laser type you can add it to Aria by using the Aria::laserAddCreator call and then it will work like any of the built in laser types (see the documentation for that function for what the creator needs to do, and an example is ArLaserCreatorHelper in the ariaUtil.h/cpp files). Similiarly if you need a new connection type (ie not serial or tcp) you implement them and then use Aria::deviceConnectionAddCreator call to add new types so they too will then be treated the same as the built in Aria ones (ArDeviceConnectionCreatorHelper in ariaUtil.h/cpp file is the example for that one).

Public Member Functions
void	addConnectCB (ArFunctor *functor, int position=50)
	Adds a connect callback.
void	addDisconnectNormallyCB (ArFunctor *functor, int position=50)
	Adds a callback for when disconnect is called while connected.
void	addDisconnectOnErrorCB (ArFunctor *functor, int position=50)
	Adds a callback for when disconnection happens because of an error.
void	addFailedConnectCB (ArFunctor *functor, int position=50)
	Adds a callback for when a connection to the robot is failed.
void	addIgnoreReading (double ignoreReading)
	Adds a degree at which to ignore readings (within 1 degree of nearest integer).
bool	addIgnoreReadings (const char *ignoreReadings)
	Adds a series of degree at which to ignore readings (within 1 degree of nearest integer).
void	addReadingCB (ArFunctor *functor, int position=50)
	Adds a callback that is called whenever a laser reading is processed.
virtual void	applyTransform (ArTransform trans, bool doCumulative=true)
	Applies a transform to the buffers.
	ArLaser (int laserNumber, const char *name, unsigned int absoluteMaxRange, bool locationDependent=false, bool appendLaserNumberToName=true)
	Constructor.
virtual bool	asyncConnect (void)=0
	Connect to the laser without blocking.
virtual bool	blockingConnect (void)=0
	Connect to the laser and block for the result.
bool	canChooseAutoBaud (void)
bool	canChooseDegrees (void)
bool	canChooseIncrement (void)
bool	canChooseReflectorBits (void)
bool	canChooseStartingBaud (void)
bool	canChooseUnits (void)
bool	canSetDegrees (void)
	Sees if this class can set the degrees with doubles or not.
bool	canSetIncrement (void)
bool	canSetPowerControlled (void)
bool	chooseAutoBaud (const char *reflectorBits)
	Sets the reflectorBits to one of the choices from getAutoBaudChoices.
bool	chooseDegrees (const char *range)
	Sets the range to one of the choices from getDegreesChoices.
bool	chooseIncrement (const char *increment)
	Sets the increment to one of the choices from getIncrementChoices.
bool	chooseReflectorBits (const char *reflectorBits)
	Sets the reflectorBits to one of the choices from getReflectorBitsChoices.
bool	chooseStartingBaud (const char *reflectorBits)
	Sets the reflectorBits to one of the choices from getStartingBaudChoices.
bool	chooseUnits (const char *units)
	Sets the units to one of the choices from getUnitsChoices.
void	clearIgnoreReadings (void)
	Clears the degrees we ignore readings at.
virtual bool	disconnect (void)=0
	Disconnect from the laser.
unsigned int	getAbsoluteMaxRange (void)
	Gets the absolute maximum range on the sensor.
const char *	getAutoBaudChoice (void)
	Gets the reflectorBits that was chosen.
std::list< std::string >	getAutoBaudChoices (void)
	Gets the list of reflectorBits choices.
const char *	getAutoBaudChoicesString (void)
	Gets a string with the list of reflectorBits choices seperated by |s.
virtual double	getConnectionTimeoutSeconds (void)
	Gets the number of seconds without a response until connection assumed lost.
double	getCumulativeCleanDist (void)
	Cumulative readings that are this close to current beams are discarded.
int	getCumulativeCleanInterval (void)
	Cumulative readings are cleaned every this number of milliseconds.
int	getCumulativeCleanOffset (void)
	Gets the offset for cumulative cleaning.
const char *	getDefaultPortType (void)
	Gets the default port type for the laser.
int	getDefaultTcpPort (void)
	Gets the default TCP port for the laser.
const char *	getDegreesChoice (void)
	Gets the range that was chosen.
double	getDegreesChoiceDouble (void)
	Gets the range that was chosen as a double.
std::list< std::string >	getDegreesChoices (void)
	Gets the list of range choices.
std::map< std::string, double >	getDegreesChoicesMap (void)
	Gets the map of degrees choices to what they mean.
const char *	getDegreesChoicesString (void)
	Gets a string with the list of degrees choices seperated by |s.
virtual ArDeviceConnection *	getDeviceConnection (void)
	Gets the device connection.
double	getEndDegrees (void)
	Gets the end angle.
double	getEndDegreesMax (void)
	Gets the maximum value for the end angle.
double	getEndDegreesMin (void)
	Gets the minimum value for the end angle.
bool	getFlipped (void)
	Gets if the laser is flipped or not.
const std::set< int > *	getIgnoreReadings (void) const
	Gets the list of readings that we ignore.
double	getIncrement (void)
	Gets the increment.
const char *	getIncrementChoice (void)
	Gets the increment that was chosen.
double	getIncrementChoiceDouble (void)
	Gets the increment that was chosen as a double.
std::list< std::string >	getIncrementChoices (void)
	Gets the list of increment choices.
std::map< std::string, double >	getIncrementChoicesMap (void)
	Gets the map of increment choices to what they mean.
const char *	getIncrementChoicesString (void)
	Gets a string with the list of increment choices seperated by |s.
double	getIncrementMax (void)
	Gets the increment maximum.
double	getIncrementMin (void)
	Gets the increment minimum.
ArLog::LogLevel	getInfoLogLevel (void)
	Gets the log level that informational things are logged at.
int	getLaserNumber (void)
	Gets the number of the laser this is.
ArTime	getLastReadingTime (void)
	Gets the time data was last receieved.
bool	getPowerControlled (void)
	Gets if the power is controlled.
int	getReadingCount (void)
	Gets the number of laser readings received in the last second.
const char *	getReflectorBitsChoice (void)
	Gets the reflectorBits that was chosen.
std::list< std::string >	getReflectorBitsChoices (void)
	Gets the list of reflectorBits choices.
const char *	getReflectorBitsChoicesString (void)
	Gets a string with the list of reflectorBits choices seperated by |s.
ArPose	getSensorPosition (void)
	Gets the position of the sensor on the robot.
double	getSensorPositionTh (void)
	Gets the heading of the sensor on the robot.
double	getSensorPositionX (void)
	Gets the X position of the sensor on the robot.
double	getSensorPositionY (void)
	Gets the Y position of the sensor on the robot.
double	getStartDegrees (void)
	Gets the start angle.
double	getStartDegreesMax (void)
	Gets the maximum value for the start angle.
double	getStartDegreesMin (void)
	Gets the minimum value for the start angle.
const char *	getStartingBaudChoice (void)
	Gets the reflectorBits that was chosen.
std::list< std::string >	getStartingBaudChoices (void)
	Gets the list of reflectorBits choices.
const char *	getStartingBaudChoicesString (void)
	Gets a string with the list of reflectorBits choices seperated by |s.
const char *	getUnitsChoice (void)
	Gets the units that was chosen.
std::list< std::string >	getUnitsChoices (void)
	Gets the list of units choices.
const char *	getUnitsChoicesString (void)
	Gets a string with the list of units choices seperated by |s.
bool	hasSensorPosition (void)
	Gets if the sensor pose has been set.
virtual bool	isConnected (void)=0
	See if the laser is connected.
virtual bool	isTryingToConnect (void)=0
	See if the laser is trying to connect.
virtual bool	laserCheckParams (void)
void	remConnectCB (ArFunctor *functor)
	Adds a disconnect callback.
void	remDisconnectNormallyCB (ArFunctor *functor)
	Removes a callback for when disconnect is called while connected.
void	remDisconnectOnErrorCB (ArFunctor *functor)
	Removes a callback for when disconnection happens because of an error.
void	remFailedConnectCB (ArFunctor *functor)
	Removes a callback for when a connection to the robot is failed.
void	remReadingCB (ArFunctor *functor)
	Removes a callback that is called whenever a laser reading is processed.
void	resetLastCumulativeCleanTime (void)
	Resets when the cumulative cleaning happened (so offset can help).
virtual void	setConnectionTimeoutSeconds (double seconds)
	Sets the numter of seconds without a response until connection assumed lost.
virtual void	setCumulativeBufferSize (size_t size)
	override the default to keep track of its been set or not
void	setCumulativeCleanDist (double dist)
	Cumulative readings that are this close to current beams are discarded.
void	setCumulativeCleanInterval (int milliSeconds)
	Cumulative readings are cleaned every this number of milliseconds.
void	setCumulativeCleanOffset (int milliSeconds)
	Offset for cumulative cleaning.
virtual void	setDeviceConnection (ArDeviceConnection *conn)
	Sets the device connection.
bool	setEndDegrees (double endDegrees)
	Sets the end angle, it must be between getEndDegreesMin and getEndDegreesMax.
bool	setFlipped (bool flipped)
	Sets if the laser is flipped or not.
bool	setIncrement (double increment)
	Sets the increment.
void	setInfoLogLevel (ArLog::LogLevel infoLogLevel)
	Sets the log level that informational things are logged at.
virtual void	setMaxRange (unsigned int maxRange)
	override the default to bound the maxrange by the absolute max range
bool	setPowerControlled (bool powerControlled)
	Sets if the power is controlled.
void	setSensorPosition (ArPose pose)
	Sets the position of the sensor on the robot.
void	setSensorPosition (double x, double y, double th)
	Sets the position of the sensor on the robot.
bool	setStartDegrees (double startDegrees)
	Sets the start angle, it must be between getStartDegreesMin and getStartDegreesMax.
virtual	~ArLaser ()
	Destructor.
Protected Member Functions
void	internalBuildChoices (std::map< std::string, double > *choices, std::string *str, std::list< std::string > *choicesList)
void	internalBuildChoicesString (std::list< std::string > *choices, std::string *str)
bool	internalCheckChoice (const char *check, const char *choice, std::map< std::string, double > *choices, const char *choicesStr, double *choiceDouble)
bool	internalCheckChoice (const char *check, const char *choice, std::list< std::string > *choices, const char *choicesStr)
virtual void	internalGotReading (void)
void	internalProcessReading (double x, double y, unsigned int range, bool clean, bool onlyClean)
void	laserAllowAutoBaudChoices (const char *defaultAutoBaudChoice, std::list< std::string > autoBaudChoices)
	Allows setting the auto baud speed to one of a number of choices.
void	laserAllowDegreesChoices (const char *defaultDegreesChoice, std::map< std::string, double > degreesChoices)
	Allows setting the degrees the laser uses to one of a number of choices.
void	laserAllowIncrementChoices (const char *defaultIncrementChoice, std::map< std::string, double > incrementChoices)
	Allows setting the increment to one of a number of choices.
void	laserAllowReflectorBitsChoices (const char *defaultReflectorBitsChoice, std::list< std::string > reflectorBitsChoices)
void	laserAllowSetDegrees (double defaultStartDegrees, double startDegreesMin, double startDegreesMax, double defaultEndDegrees, double endDegreesMin, double endDegreesMax)
	Allows setting the degrees the laser uses to anything in a range.
void	laserAllowSetIncrement (double defaultIncrement, double incrementMin, double incrementMax)
	Allows setting the increment the laser uses to anything in a range.
void	laserAllowSetPowerControlled (bool defaultPowerControlled)
	Allows setting if the power is controlled or not.
void	laserAllowStartingBaudChoices (const char *defaultStartingBaudChoice, std::list< std::string > startingBaudChoices)
	Allows setting the starting baud to one of a number of choices.
void	laserAllowUnitsChoices (const char *defaultUnitsChoice, std::list< std::string > unitsChoices)
	Allows setting the units the laser will use to one of a number of choices.
bool	laserCheckLostConnection (void)
virtual void	laserConnect (void)
	Function for a laser to call when it connects.
virtual void	laserDisconnectNormally (void)
	Function for a laser to call when it disconnects normally.
virtual void	laserDisconnectOnError (void)
	Function for a laser to call when it loses connection.
virtual void	laserFailedConnect (void)
	Function for a laser to call when it fails to connects.
void	laserProcessReadings (void)
bool	laserPullUnsetParamsFromRobot (void)
	Pulls the unset params from the robot parameter file.
void	laserSetAbsoluteMaxRange (unsigned int absoluteMaxRange)
	Sets the absolute maximum range on the sensor.
void	laserSetDefaultPortType (const char *defaultPortType)
	Sets the laser's default connection port type.
void	laserSetDefaultTcpPort (int defaultLaserTcpPort)
	Sets the laser's default TCP port.
virtual void	laserSetName (const char *name)
	Called when the lasers name is set.
Protected Attributes
unsigned int	myAbsoluteMaxRange
std::string	myAutoBaudChoice
std::list< std::string >	myAutoBaudChoices
bool	myAutoBaudChoiceSet
std::string	myAutoBaudChoicesString
bool	myCanChooseAutoBaud
bool	myCanChooseDegrees
bool	myCanChooseIncrement
bool	myCanChooseReflectorBits
bool	myCanChooseStartingBaud
bool	myCanChooseUnits
bool	myCanSetDegrees
bool	myCanSetIncrement
bool	myCanSetPowerControlled
ArDeviceConnection *	myConn
ArCallbackList	myConnectCBList
ArMutex	myConnMutex
bool	myCumulativeBufferSizeSet
double	myCumulativeCleanDist
double	myCumulativeCleanDistSquared
int	myCumulativeCleanInterval
int	myCumulativeCleanOffset
ArTime	myCumulativeLastClean
ArCallbackList	myDataCBList
std::string	myDefaultPortType
int	myDefaultTcpPort
std::string	myDegreesChoice
double	myDegreesChoiceDouble
std::map< std::string, double >	myDegreesChoices
bool	myDegreesChoiceSet
std::list< std::string >	myDegreesChoicesList
std::string	myDegreesChoicesString
ArCallbackList	myDisconnectNormallyCBList
ArCallbackList	myDisconnectOnErrorCBList
double	myEndDegrees
double	myEndDegreesMax
double	myEndDegreesMin
bool	myEndDegreesSet
ArCallbackList	myFailedConnectCBList
bool	myFlipped
bool	myFlippedSet
bool	myHaveSensorPose
std::set< int >	myIgnoreReadings
double	myIncrement
std::string	myIncrementChoice
double	myIncrementChoiceDouble
std::map< std::string, double >	myIncrementChoices
bool	myIncrementChoiceSet
std::list< std::string >	myIncrementChoicesList
std::string	myIncrementChoicesString
double	myIncrementMax
double	myIncrementMin
bool	myIncrementSet
ArLog::LogLevel	myInfoLogLevel
int	myLaserNumber
ArTime	myLastReading
bool	myMaxRangeSet
bool	myPowerControlled
bool	myPowerControlledSet
int	myReadingCount
int	myReadingCurrentCount
std::string	myReflectorBitsChoice
std::list< std::string >	myReflectorBitsChoices
bool	myReflectorBitsChoiceSet
std::string	myReflectorBitsChoicesString
bool	myRobotRunningAndConnected
ArPose	mySensorPose
double	myStartDegrees
double	myStartDegreesMax
double	myStartDegreesMin
bool	myStartDegreesSet
std::string	myStartingBaudChoice
std::list< std::string >	myStartingBaudChoices
bool	myStartingBaudChoiceSet
std::string	myStartingBaudChoicesString
time_t	myTimeLastReading
double	myTimeoutSeconds
std::string	myUnitsChoice
std::list< std::string >	myUnitsChoices
bool	myUnitsChoiceSet
std::string	myUnitsChoicesString

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Member Function Documentation

void ArLaser::applyTransform (  ArTransform  trans, bool  doCumulative = true )  [virtual]

Applies a transform to the buffers. Applies a transform to the buffers. this is mostly useful for translating to/from local/global coordinates, but may have other uses. This is different from the class because it also transforms the raw readings. Parameters: trans  the transform to apply to the data doCumulative  whether to transform the cumulative buffer or not Reimplemented from ArRangeDevice.

bool ArLaser::canChooseAutoBaud (  void   )  [inline]

Gets if you can choose autoBaud for the laser. If so, call chooseAutoBaud with one of the choices in getAutoBaudChoices, and see what the choice was with getAutoBaudChoice.

bool ArLaser::canChooseDegrees (  void   )  [inline]

Gets if you can choose the number of degrees If so, you can call chooseDegrees with one of the strings from getDegreesChoices, and get the degrees chosen as a string with getDegreesChoice or get the degrees chosen as a double with getDegreesChoiceDouble.

bool ArLaser::canChooseIncrement (  void   )  [inline]

Gets if you can choose an increment. If so, call chooseIncrement with one of the choices in getIncrementChoices, and get the choice as a string with getIncrementChoice or the choice as a string with getIncrementChoiceDouble.

bool ArLaser::canChooseReflectorBits (  void   )  [inline]

Gets if you can choose reflectorBits for the laser. If so, call chooseReflectorBits with one of the choices in getReflectorBitsChoices, and see what the choice was with getReflectorBitsChoice.

bool ArLaser::canChooseStartingBaud (  void   )  [inline]

Gets if you can choose startingBaud for the laser. If so, call chooseStartingBaud with one of the choices in getStartingBaudChoices, and see what the choice was with getStartingBaudChoice.

bool ArLaser::canChooseUnits (  void   )  [inline]

Gets if you can choose units for the laser. If so, call chooseUnits with one of the choices in getUnitsChoices, and see what the choice was with getUnitsChoice.

bool ArLaser::canSetDegrees (  void   )  [inline]

Sees if this class can set the degrees with doubles or not. Gets if this class can set the start and end degrees with doubles. If so, you can use getStartDegreesMin and getStartDegreesMax to see the valid values that you can use with setStartDegrees (and see what was set with getStartDegrees), and getEndDegreesMin and getEndDegreesMax to see the valid values that you can use with setEndDegrees (and see what was set with getEndDegrees).

bool ArLaser::canSetIncrement (  void   )  [inline]

Gets if you can set an increment

bool ArLaser::canSetPowerControlled (  void   )  [inline]

Gets if you can set powerControlled for the laser. If so, call setPowerControlled to set if the power is being controlled or not, and see what the setting is with getPowerControlled.

bool ArLaser::chooseAutoBaud (  const char *  reflectorBits  )

Sets the reflectorBits to one of the choices from getAutoBaudChoices. See also: canChooseAutoBaud

bool ArLaser::chooseDegrees (  const char *  range  )

Sets the range to one of the choices from getDegreesChoices. See also: canChooseDegrees

bool ArLaser::chooseIncrement (  const char *  increment  )

Sets the increment to one of the choices from getIncrementChoices. See also: canChooseIncrement

bool ArLaser::chooseReflectorBits (  const char *  reflectorBits  )

Sets the reflectorBits to one of the choices from getReflectorBitsChoices. See also: canChooseReflectorBits

bool ArLaser::chooseStartingBaud (  const char *  reflectorBits  )

Sets the reflectorBits to one of the choices from getStartingBaudChoices. See also: canChooseStartingBaud

bool ArLaser::chooseUnits (  const char *  units  )

Sets the units to one of the choices from getUnitsChoices. See also: canChooseUnits

const char* ArLaser::getAutoBaudChoice (  void   )  [inline]

Gets the reflectorBits that was chosen. See also: canChooseAutoBaud

std::list<std::string> ArLaser::getAutoBaudChoices (  void   )  [inline]

Gets the list of reflectorBits choices. See also: canChooseAutoBaud

const char* ArLaser::getAutoBaudChoicesString (  void   )  [inline]

Gets a string with the list of reflectorBits choices seperated by |s. See also: canChooseAutoBaud

double ArLaser::getConnectionTimeoutSeconds (  void   )  [virtual]

Gets the number of seconds without a response until connection assumed lost. Gets the time (miliseconds) to go without response from the laser until it is assumed that the connection with the laser has been broken and the disconnect on error events will happen. If 0, then the timeout is disabled. If there is no robot then there is a straightforward check of last reading time against this value. If there is a robot then it will not start the check until the laser is running and connected.

const char* ArLaser::getDegreesChoice (  void   )  [inline]

Gets the range that was chosen. See also: canChooseDegrees

double ArLaser::getDegreesChoiceDouble (  void   )  [inline]

Gets the range that was chosen as a double. See also: canChooseDegrees

std::list<std::string> ArLaser::getDegreesChoices (  void   )  [inline]

Gets the list of range choices. See also: canChooseDegrees

std::map<std::string, double> ArLaser::getDegreesChoicesMap (  void   )  [inline]

Gets the map of degrees choices to what they mean. This is mostly for the simulated laser See also: canChooseDegrees

const char* ArLaser::getDegreesChoicesString (  void   )  [inline]

Gets a string with the list of degrees choices seperated by |s. See also: canChooseDegrees

double ArLaser::getEndDegrees (  void   )  [inline]

Gets the end angle. See also: canSetDegrees

double ArLaser::getEndDegreesMax (  void   )  [inline]

Gets the maximum value for the end angle. See also: canSetDegrees

double ArLaser::getEndDegreesMin (  void   )  [inline]

Gets the minimum value for the end angle. See also: canSetDegrees

double ArLaser::getIncrement (  void   )  [inline]

Gets the increment. See also: canSetIncrement

const char* ArLaser::getIncrementChoice (  void   )  [inline]

Gets the increment that was chosen. See also: canChooseIncrement

double ArLaser::getIncrementChoiceDouble (  void   )  [inline]

Gets the increment that was chosen as a double. See also: canChooseIncrement

std::list<std::string> ArLaser::getIncrementChoices (  void   )  [inline]

Gets the list of increment choices. See also: canChooseIncrement

std::map<std::string, double> ArLaser::getIncrementChoicesMap (  void   )  [inline]

Gets the map of increment choices to what they mean. This is mostly for the simulated laser See also: canChooseIncrement

const char* ArLaser::getIncrementChoicesString (  void   )  [inline]

Gets a string with the list of increment choices seperated by |s. See also: canChooseIncrement

double ArLaser::getIncrementMax (  void   )  [inline]

Gets the increment maximum. See also: canSetIncrement

double ArLaser::getIncrementMin (  void   )  [inline]

Gets the increment minimum. See also: canSetIncrement

bool ArLaser::getPowerControlled (  void   )  [inline]

Gets if the power is controlled. See also: canChoosePowerControlled

const char* ArLaser::getReflectorBitsChoice (  void   )  [inline]

Gets the reflectorBits that was chosen. See also: canChooseReflectorBits

std::list<std::string> ArLaser::getReflectorBitsChoices (  void   )  [inline]

Gets the list of reflectorBits choices. See also: canChooseReflectorBits

const char* ArLaser::getReflectorBitsChoicesString (  void   )  [inline]

Gets a string with the list of reflectorBits choices seperated by |s. See also: canChooseReflectorBits

double ArLaser::getStartDegrees (  void   )  [inline]

Gets the start angle. See also: canSetDegrees

double ArLaser::getStartDegreesMax (  void   )  [inline]

Gets the maximum value for the start angle. See also: canSetDegrees

double ArLaser::getStartDegreesMin (  void   )  [inline]

Gets the minimum value for the start angle. See also: canSetDegrees

const char* ArLaser::getStartingBaudChoice (  void   )  [inline]

Gets the reflectorBits that was chosen. See also: canChooseStartingBaud

std::list<std::string> ArLaser::getStartingBaudChoices (  void   )  [inline]

Gets the list of reflectorBits choices. See also: canChooseStartingBaud

const char* ArLaser::getStartingBaudChoicesString (  void   )  [inline]

Gets a string with the list of reflectorBits choices seperated by |s. See also: canChooseStartingBaud

const char* ArLaser::getUnitsChoice (  void   )  [inline]

Gets the units that was chosen. See also: canChooseUnits

std::list<std::string> ArLaser::getUnitsChoices (  void   )  [inline]

Gets the list of units choices. See also: canChooseUnits

const char* ArLaser::getUnitsChoicesString (  void   )  [inline]

Gets a string with the list of units choices seperated by |s. See also: canChooseUnits

void ArLaser::laserAllowAutoBaudChoices (  const char *  defaultAutoBaudChoice, std::list< std::string >  autoBaudChoices )  [protected]

Allows setting the auto baud speed to one of a number of choices. Parameters: defaultAutoBaudChoice  Default auto baud choice. This should probably be the maximum reasonable reliable robust rate that the laser supports. The laser should autobaud up to this choice after it connects. autoBaudChoices  The available choices for auto baud

void ArLaser::laserAllowDegreesChoices (  const char *  defaultDegreesChoice, std::map< std::string, double >  degreesChoices )  [protected]

Allows setting the degrees the laser uses to one of a number of choices. Allows the choice of the laser degrees from one of a number of choices, only one of this and laserAllowSetDegrees should be used. Parameters: defaultDegreesChoice  The default degrees, this should be the largest value. degreesChoices  this is a mapping of std::strings to doubles, the strings should be the actual available choices, and the doubles should be the numerical representation... this is so the simulated laser can behave more easily like the real lasers... and because the original sick driver used words typed out (to make problems more obvious).

void ArLaser::laserAllowIncrementChoices (  const char *  defaultIncrementChoice, std::map< std::string, double >  incrementChoices )  [protected]

Allows setting the increment to one of a number of choices. Allows the choice of increment from a limited set of values, only one of this and laserAllowSetIncrement should be used. Parameters: defaultIncrementChoice  The default increment, this should be a reasonable value. incrementChoices  this is a mapping of std::strings to doubles, the strings should be the actual available choices, and the doubles should be the numerical representation... this is so the simulated laser can behave more easily like the real lasers... and because the original sick driver used words typed out (to make problems more obvious).

void ArLaser::laserAllowReflectorBitsChoices (  const char *  defaultReflectorBitsChoice, std::list< std::string >  reflectorBitsChoices )  [protected]

Allows setting the reflector bits the laser will use to one of a number of choices

void ArLaser::laserAllowSetDegrees (  double  defaultStartDegrees, double  startDegreesMin, double  startDegreesMax, double  defaultEndDegrees, double  endDegreesMin, double  endDegreesMax )  [protected]

Allows setting the degrees the laser uses to anything in a range. This allows the setting of the degrees the laser will use from a range for both starting and ending degrees. Only one of this and laserAllowDegreesChoices should be used. Parameters: defaultStartDegrees  The default start degrees to use, this default should probably be for the max range. startDegreesMin  The minimum value for start degrees startDegreesMax  The maximum value for start degrees defaultEndDegrees  The default end degrees to use, this default should probably be for the max range. endDegreesMin  The minimum value for end degrees endDegreesMax  The maximum value for end degrees

void ArLaser::laserAllowSetIncrement (  double  defaultIncrement, double  incrementMin, double  incrementMax )  [protected]

Allows setting the increment the laser uses to anything in a range. Allows the choice of increment from a range, only one of this and laserAllowIncrementChoices should be used. Parameters: defaultIncrement  The default increment to use, this default should be a reasonable value. incrementMin  The minimum value for the increment incrementMax  The maximum value for the increment

void ArLaser::laserAllowSetPowerControlled (  bool  defaultPowerControlled  )  [protected]

Allows setting if the power is controlled or not. Allows settings of whether the power can be controlled or not. This is mostly for devices that respond differently at power up than they do if they are already on (ie the lms2xx where it doesn't respond at all while powering up). If the communication is the same either way, you can just not set this. Parameters: defaultPowerControlled  The default value for power controlled.

void ArLaser::laserAllowStartingBaudChoices (  const char *  defaultStartingBaudChoice, std::list< std::string >  startingBaudChoices )  [protected]

Allows setting the starting baud to one of a number of choices. Parameters: defaultStartingBaudChoice  Default starting baud choice. This should probably stay the same as what the sensor ships with. startingBaudChoices  The available choices for starting baud

void ArLaser::laserAllowUnitsChoices (  const char *  defaultUnitsChoice, std::list< std::string >  unitsChoices )  [protected]

Allows setting the units the laser will use to one of a number of choices. Parameters: defaultUnitsChoice  This is the default units choice, it should be a reasonable value. unitsChoices  The possible choices for units.

bool ArLaser::laserCheckLostConnection (  void   )  [protected]

Returns if the laser has lost connection so that the subclass can do something approrpiate

virtual bool ArLaser::laserCheckParams (  void   )  [inline, virtual]

The base laser should make sure all the parameters make sense according to what was set up as allowed. This is here for two purposes. The first is to check for parameters that aren't valid because of something the base class can't check for. The second is to recalculate whatever the maximum range of the sensor is based on those settings, and call setAbsoluteMaxRange if the maximum range has changed based on the settings. This is strictly an internal call, mostly for the simulated laser so that it can more closely match the real laser on complicated things like the LMS2xx where the settings for the units and bits affect what the maximum range is.

void ArLaser::laserProcessReadings (  void   )  [protected]

Converts the raw readings into the buffers (needs to be called by subclasses)

void ArLaser::laserSetName (  const char *  name  )  [protected, virtual]

Called when the lasers name is set. This can be used to set the name on mutexes and such to match the laser's new name.

void ArLaser::setConnectionTimeoutSeconds (  double  seconds  )  [virtual]

Sets the numter of seconds without a response until connection assumed lost. Sets the time to go without a response from the laser until it is assumed that the connection with the laser has been broken and the disconnect on error events will happen. If there is no robot then there is a straightforward check of last reading time against this value. If there is a robot then it will not start the check until the laser is running and connected. Parameters: seconds  if 0 or less then the connection timeout feature will be disabled, otherwise disconnect on error will be triggered after this number of miliseconds...

bool ArLaser::setEndDegrees (  double  endDegrees  )

Sets the end angle, it must be between getEndDegreesMin and getEndDegreesMax. See also: canSetDegrees

bool ArLaser::setIncrement (  double  increment  )

Sets the increment. See also: canSetIncrement

bool ArLaser::setPowerControlled (  bool  powerControlled  )

Sets if the power is controlled. See also: canChoosePowerControlled

bool ArLaser::setStartDegrees (  double  startDegrees  )

Sets the start angle, it must be between getStartDegreesMin and getStartDegreesMax. See also: canSetDegrees

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

• ArLaser.h
• ArLaser.cpp

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