ArRangeDevice Class Reference

#include <ArRangeDevice.h>

Inheritance diagram for ArRangeDevice:

List of all members.

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Detailed Description

The base class for all sensing devices which return range information from the device (mounted on a robot) to an object in the environment.

This class maintains two ArRangeBuffer objects: a current buffer for storing very recent readings, and a cumulative buffer for a longer history of readings. The maximum sizes of each buffer can be set in the constructor or resized later. Range device readings are most often represented as a point in space (X,Y) where the sensor detected an object. (Therefore an ArPose object may only have X and Y components set). Some devices provide extra information in a "raw" buffer, or in lists of more detailed ArSensoReading objects.

Subclasses are used for specific sensor implementations like ArSick for SICK lasers and ArSonarDevice for the Pioneer sonar array. It can also be useful to treat "virtual" objects like forbidden areas specified by the user in a map like range devices. Some of these subsclasses may use a separate thread to update the range reading buffers, and so this base class provides "lock" and "unlock" methods which you should use when accessing device data.

A range device may have an ArRobot object associated with it. A range device may also be associated with an ArRobot by calling ArRobot::addRangeDevice(). ArRobot provides functions which operate on all such associated ArRangeDevice objects. This is a convenient (and thread-safe) way to access all range device data without depending on a specific set of individual range devices. For example, you can find the closest reading in a box or a polar section, no matter if that reading originated from the sonar, a laser, or other device.

Examples:

actionExample.cpp.

Public Member Functions
virtual void	addReading (double x, double y)
	Adds a reading to the buffer.
virtual void	applyTransform (ArTransform trans, bool doCumulative=true)
	Applies a transform to the buffers.
	ArRangeDevice (size_t currentBufferSize, size_t cumulativeBufferSize, const char *name, unsigned int maxRange, int maxSecondsToKeepCurrent=0, int maxSecondsToKeepCumulative=0, double maxDistToKeepCumulative=0, bool locationDependent=false)
	Constructor.
virtual void	clearCumulativeOlderThan (int milliSeconds)
	Clears all the cumulative readings older than this number of milliseconds.
virtual void	clearCumulativeOlderThanSeconds (int seconds)
	Clears all the cumulative readings older than this number of seconds.
virtual void	clearCumulativeReadings (void)
	Clears all the cumulative readings.
virtual void	clearCurrentReadings (void)
	Clears all the current readings.
virtual double	cumulativeReadingBox (double x1, double y1, double x2, double y2, ArPose *readingPos=NULL) const
	Gets the closest current reading from the given box region.
virtual double	cumulativeReadingPolar (double startAngle, double endAngle, double *angle=NULL) const
	Gets the closest cumulative reading in the given polar region.
virtual double	currentReadingBox (double x1, double y1, double x2, double y2, ArPose *readingPos=NULL) const
	Gets the closest current reading from the given box region.
virtual double	currentReadingPolar (double startAngle, double endAngle, double *angle=NULL) const
	Gets the closest current reading in the given polar region.
virtual const std::list< ArSensorReading * > *	getAdjustedRawReadings (void) const
	Gets the raw unfiltered readings from the device (but pose takens are corrected).
virtual std::vector< ArSensorReading > *	getAdjustedRawReadingsAsVector (void)
	Gets the raw adjusted readings from the device into a vector.
virtual std::list< ArPoseWithTime * > *	getCumulativeBuffer (void)
	Gets the current buffer of readings.
virtual const std::list< ArPoseWithTime * > *	getCumulativeBuffer (void) const
	Gets the current buffer of readings.
virtual std::vector< ArPoseWithTime > *	getCumulativeBufferAsVector (void)
	Gets the cumulative buffer of readings as a vector.
virtual ArDrawingData *	getCumulativeDrawingData (void)
	Gets data used for visualizing the cumulative buffer (see ArNetworking).
virtual ArRangeBuffer *	getCumulativeRangeBuffer (void)
	Gets the cumulative range buffer.
virtual const ArRangeBuffer *	getCumulativeRangeBuffer (void) const
	Gets the cumulative range buffer.
virtual std::list< ArPoseWithTime * > *	getCurrentBuffer (void)
	Gets the current buffer of readings.
virtual const std::list< ArPoseWithTime * > *	getCurrentBuffer (void) const
	Gets the current buffer of readings.
virtual std::vector< ArPoseWithTime > *	getCurrentBufferAsVector (void)
	Gets the current buffer of readings as a vector.
virtual ArDrawingData *	getCurrentDrawingData (void)
	Gets data used for visualizing the current buffer (see ArNetworking).
virtual ArRangeBuffer *	getCurrentRangeBuffer (void)
	Gets the current range buffer.
virtual const ArRangeBuffer *	getCurrentRangeBuffer (void) const
	Gets the current range buffer.
double	getMaxDistToKeepCumulative (void)
	sets the maximum distance cumulative readings can be from current pose
double	getMaxInsertDistCumulative (void)
	Gets the maximum distance a cumulative reading can be from the robot and still be inserted.
virtual unsigned int	getMaxRange (void)
	Gets the maximum range for this device.
int	getMaxSecondsToKeepCumulative (void)
	gets the maximum seconds to keep current readings around
int	getMaxSecondsToKeepCurrent (void)
	gets the maximum seconds to keep current readings around
double	getMinDistBetweenCumulative (void)
	Gets the minimum distance between cumulative readings.
double	getMinDistBetweenCurrent (void)
	Gets the minimum distance between current readings.
virtual const char *	getName (void) const
	Gets the name of the device.
virtual const std::list< ArSensorReading * > *	getRawReadings (void) const
	Gets the raw unfiltered readings from the device.
virtual std::vector< ArSensorReading > *	getRawReadingsAsVector (void)
	Gets the raw unfiltered readings from the device into a vector.
virtual ArRobot *	getRobot (void)
	Gets the robot this device is attached to.
bool	isLocationDependent (void)
	Gets if this device is location dependent or not.
virtual int	lockDevice ()
	Lock this device.
virtual void	setCumulativeBufferSize (size_t size)
	Sets the maximum size of the buffer for cumulative readings.
virtual void	setCumulativeDrawingData (ArDrawingData *data, bool takeOwnershipOfData)
	Sets data for visualizing the cumulative buffer (and if we own it).
virtual void	setCurrentBufferSize (size_t size)
	Sets the maximum size of the buffer for current readings.
virtual void	setCurrentDrawingData (ArDrawingData *data, bool takeOwnershipOfData)
	Sets data for visualizing the current buffer (and if we own it).
void	setMaxDistToKeepCumulative (double maxDistToKeepCumulative)
	sets the maximum distance cumulative readings can be from current pose
void	setMaxInsertDistCumulative (double maxInsertDistCumulative)
	Sets the maximum distance a cumulative reading can be from the robot and still be inserted.
virtual void	setMaxRange (unsigned int maxRange)
	Sets the maximum range for this device.
void	setMaxSecondsToKeepCumulative (int maxSecondsToKeepCumulative)
	gets the maximum seconds to keep cumulative readings around
void	setMaxSecondsToKeepCurrent (int maxSecondsToKeepCurrent)
	Sets the maximum seconds to keep current readings around.
void	setMinDistBetweenCumulative (double minDistBetweenCumulative)
	Sets the minimum distance between cumulative readings.
void	setMinDistBetweenCurrent (double minDistBetweenCurrent)
	Sets the minimum distance between current readings.
virtual void	setRobot (ArRobot *robot)
	Sets the robot this device is attached to.
virtual int	tryLockDevice ()
	Try to lock this device.
virtual int	unlockDevice ()
	Unlock this device.
virtual	~ArRangeDevice ()
	Destructor.
Protected Member Functions
void	adjustRawReadings (bool interlaced)
void	filterCallback (void)
Protected Attributes
std::list< ArSensorReading * > *	myAdjustedRawReadings
std::vector< ArSensorReading >	myAdjustedRawReadingsVector
ArRangeBuffer	myCumulativeBuffer
ArDrawingData *	myCumulativeDrawingData
ArRangeBuffer	myCurrentBuffer
ArDrawingData *	myCurrentDrawingData
ArMutex	myDeviceMutex
ArFunctorC< ArRangeDevice >	myFilterCB
bool	myIsLocationDependent
double	myMaxDistToKeepCumulative
double	myMaxDistToKeepCumulativeSquared
double	myMaxInsertDistCumulative
ArPose	myMaxInsertDistCumulativePose
double	myMaxInsertDistCumulativeSquared
unsigned int	myMaxRange
int	myMaxSecondsToKeepCumulative
int	myMaxSecondsToKeepCurrent
double	myMinDistBetweenCumulative
double	myMinDistBetweenCumulativeSquared
double	myMinDistBetweenCurrent
double	myMinDistBetweenCurrentSquared
std::string	myName
bool	myOwnCumulativeDrawingData
bool	myOwnCurrentDrawingData
std::list< ArSensorReading * > *	myRawReadings
std::vector< ArSensorReading >	myRawReadingsVector
ArRobot *	myRobot

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Constructor & Destructor Documentation

ArRangeDevice::ArRangeDevice (  size_t  currentBufferSize, size_t  cumulativeBufferSize, const char *  name, unsigned int  maxRange, int  maxSecondsToKeepCurrent = 0, int  maxSecondsToKeepCumulative = 0, double  maxDistToKeepCumulative = 0, bool  locationDependent = false )

Constructor. Parameters: currentBufferSize  number of readings to store in the current buffer cumulativeBufferSize  number of readings to store in the cumulative buffer name  the name of this device maxRange  the maximum range of this device. If the device can't find a reading in a specified section, it returns this maxRange maxSecondsToKeepCurrent  this is the number of seconds to keep current readings in the current buffer. If less than 0, then readings are not automatically removed based on time (but can be replaced or removed for other reasons). maxSecondsToKeepCumulative  this is the number of seconds to keep cumulative readings in the cumulative buffer. If less than 0 then readings are not automatically based on time (but can be replaced or removed for other reasons). maxDistToKeepCumulative  if cumulative readings are further than this distance from the current robot pose, then they are removed. If this is less than 0 they are not removed because of this locationDependent  if the data in this range device is dependent on the robot's location or not... For instance, a laser would not be dependent on location, because it'll be correct in a relative manner, whereas forbidden lines are dependent on location, because if the robot isn't where it thinks it is then the forbidden lines will be avoided in the wrong spots... this is mainly just a flag for other things to use when deciding what range devices to avoid planar  if the range device is planar or not... planar range devices are ones like the Sick LMS200 that are only in one plane and and are all measured from a single point... Where you can use the beams of the current reading to filter out any cumulative readings that are close to the beam... these range devices need to simply build a set of raw readings and then call 'planarProcessReadings' for this filtering to work

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Member Function Documentation

void ArRangeDevice::adjustRawReadings (  bool  interlaced  )  [protected]

This call should be called by the range device every robot cycle before the range device makes new readings (and even if it isn't adding any that cycle)... it will adjust the raw readings by the robot odometry offset. The robot should be locked when this happens (which should be the case if you're doing it in the robot callback). The code currently assumes that all readings were taken at the same point, so if that isn't true with your device then you can't use this mechanism.

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

Applies a transform to the buffers. Applies a coordinate transformation to some or all buffers. This is mostly useful for translating to/from local/global coordinate systems, but may have other uses. Parameters: trans  the transform to apply to the data doCumulative  whether to transform the cumulative buffer or not Reimplemented in ArLaser.

double ArRangeDevice::cumulativeReadingBox (  double  x1, double  y1, double  x2, double  y2, ArPose *  pose = NULL )  const [virtual]

Gets the closest current reading from the given box region. Get the closest reading in the cumulative buffer within a rectangular region around the range device, defined by two points (opposeite points of a rectangle). Parameters: x1  the x coordinate of one of the rectangle points y1  the y coordinate of one of the rectangle points x2  the x coordinate of the other rectangle point y2  the y coordinate of the other rectangle point pose  a pointer to an ArPose object in which to store the location of the closest position Returns: The range to the reading from the device, or a value >= maxRange if no reading was found in the box.

double ArRangeDevice::cumulativeReadingPolar (  double  startAngle, double  endAngle, double *  angle = NULL )  const [virtual]

Gets the closest cumulative reading in the given polar region. The closest reading in this range device's cumulative buffer within a polar region or "slice" defined by the given angle range is returned. Optionally return the specific angle of the found reading as well. The region searched is the region between a starting angle, sweeping counter-clockwise to the ending angle (0 is straight ahead of the device, -90 to the right, 90 to the left). Note that there is a difference between the region (0, 10) and (10, 0). (0, 10) is a 10-degree span near the front of the device, while (10, 0) is a 350 degree span covering the sides and rear. Similarly, (-60, -30) covers 30 degrees on the right hand side, while (-30, -60) covers 330 degrees. In other words, if you want the smallest section between the two angles, ensure than startAngle < endAngle. Parameters: startAngle  where to start the slice endAngle  where to end the slice, going counterclockwise from startAngle angle  if given, a pointer to a value in which to put the specific angle to the found reading Returns: the range to the obstacle (a value >= the maximum range indicates that no reading was detected in the specified region) Example: This figure illustrates an example range device and the meanings of arguments and return value.

double ArRangeDevice::currentReadingBox (  double  x1, double  y1, double  x2, double  y2, ArPose *  pose = NULL )  const [virtual]

Gets the closest current reading from the given box region. Get the closest reading in the current buffer within a rectangular region defined by two points (opposite corners of the rectangle). Parameters: x1  the x coordinate of one of the rectangle points y1  the y coordinate of one of the rectangle points x2  the x coordinate of the other rectangle point y2  the y coordinate of the other rectangle point pose  a pointer to an ArPose object in which to store the location of the closest position Returns: The range to the reading from the device, or a value >= maxRange if no reading was found in the box.

double ArRangeDevice::currentReadingPolar (  double  startAngle, double  endAngle, double *  angle = NULL )  const [virtual]

Gets the closest current reading in the given polar region. The closest reading within a polar region or "slice" defined by the given angle range is returned. Optionally, the specific angle of the found may be placed in angle, if not NULL. The region searched is the region between startAngle, sweeping counter-clockwise to endAngle (0 is straight ahead of the device, -90 to the right, 90 to the left). Note that therefore there is a difference between e.g. the regions (0, 10) and (10, 0). (0, 10) is a 10-degree span near the front of the device, while (10, 0) is a 350 degree span covering the sides and rear. Similarly, (-60, -30) covers 30 degrees on the right hand side, while (-30, -60) covers 330 degrees. (-90, 90) is 180 degrees in front. (-180, 180) covers all sides of the robot. In other words, if you want the smallest section between the two angles, ensure that startAngle < endAngle. Parameters: startAngle  where to start the slice endAngle  where to end the slice, going counterclockwise from startAngle angle  if given, a pointer to a value in which to put the specific angle to the found reading Returns: the range to the obstacle (a value >= the maximum range indicates that no reading was detected in the specified region) Example: This figure illustrates an example range device and the meanings of arguments and return value.

virtual const std::list<ArSensorReading *>* ArRangeDevice::getAdjustedRawReadings (  void   )  const [inline, virtual]

Gets the raw unfiltered readings from the device (but pose takens are corrected). The raw readings are the full set of unfiltered readings from the device. They are the latest readings. You should not manipulate the list you get from this function, the only manipulation of this list should be done by the range device itself. (Its only pointers for speed.) This is like the raw readings but they were corrected for the robot odometry offset (just the pose taken, and encoder psoe taken). Note: Only ArSick provides this data currently. Sonar, bumpers, etc. do not provide raw readings. This method was added to this base class for future lasers or other similar devices. Other kinds of range devices are sufficiently different from lasers that any "raw" information provided would usually require very different interpretation.

std::vector< ArSensorReading > * ArRangeDevice::getAdjustedRawReadingsAsVector (  void   )  [virtual]

Gets the raw adjusted readings from the device into a vector. Copies the list into a vector. Java and Python Wrappers: The return type will be named ArSensorReadingVector instead of the std::vector template type.

virtual const std::list<ArPoseWithTime *>* ArRangeDevice::getCumulativeBuffer (  void   )  const [inline, virtual]

Gets the current buffer of readings. Java and Python Wrappers: Not available in Java or Python wrapper libraries. See getCumulativeBufferAsVector()

virtual std::vector<ArPoseWithTime>* ArRangeDevice::getCumulativeBufferAsVector (  void   )  [inline, virtual]

Gets the cumulative buffer of readings as a vector. Java and Python Wrappers: The return type will be named ArPoseWithTimeVector instead of the std::vector template.

virtual const ArRangeBuffer* ArRangeDevice::getCumulativeRangeBuffer (  void   )  const [inline, virtual]

Gets the cumulative range buffer. Java and Python Wrappers: Not available in Java or Python wrapper libraries. See getCumulativeBufferAsVector()

virtual const std::list<ArPoseWithTime *>* ArRangeDevice::getCurrentBuffer (  void   )  const [inline, virtual]

Gets the current buffer of readings. Java and Python Wrappers: Not available in Java or Python wrapper libraries. See getCurrentBufferAsVector()

virtual std::vector<ArPoseWithTime>* ArRangeDevice::getCurrentBufferAsVector (  void   )  [inline, virtual]

Gets the current buffer of readings as a vector. Java and Python Wrappers: The return type will be named ArPoseWithTimeVector instead of the std::vector template.

virtual const ArRangeBuffer* ArRangeDevice::getCurrentRangeBuffer (  void   )  const [inline, virtual]

Gets the current range buffer. Java and Python Wrappers: Not available in Java or Python wrapper libraries. See getCurrentBufferAsVector()

double ArRangeDevice::getMaxDistToKeepCumulative (  void   )  [inline]

sets the maximum distance cumulative readings can be from current pose Returns: if cumulative readings are further than this from where the current pose they are removed, if this is less than 0 they are not removed because of this

double ArRangeDevice::getMaxInsertDistCumulative (  void   )  [inline]

Gets the maximum distance a cumulative reading can be from the robot and still be inserted. Returns: The maximum distance a cumulative reading can have from the robot's current position and still be inserted into the cumulative readings, this is applied in the addReading call so range devices need to call that for this to take effect.

int ArRangeDevice::getMaxSecondsToKeepCumulative (  void   )  [inline]

gets the maximum seconds to keep current readings around Returns: this is the number of seconds cumulative readings are kept around for, if less than 0 then they are not automatically removed because of this

int ArRangeDevice::getMaxSecondsToKeepCurrent (  void   )  [inline]

gets the maximum seconds to keep current readings around Returns: this is the number of seconds current readings are kept around for, if less than 0 then they are not automatically removed because of this

double ArRangeDevice::getMinDistBetweenCumulative (  void   )  [inline]

Gets the minimum distance between cumulative readings. Returns: The minimum distance between cumulative readings, this is applied in the addReading call so range devices need to call that for this to take effect.

double ArRangeDevice::getMinDistBetweenCurrent (  void   )  [inline]

Gets the minimum distance between current readings. Returns: The minimum distance between current readings, this is applied in the addReading call so range devices need to call that for this to take effect.

virtual const std::list<ArSensorReading *>* ArRangeDevice::getRawReadings (  void   )  const [inline, virtual]

Gets the raw unfiltered readings from the device. The raw readings are the full set of unfiltered readings from the device. They are the latest readings. You should not manipulate the list you get from this function, the only manipulation of this list should be done by the range device itself. (Its only pointers for speed.) Note: Only ArSick provides this data currently. Sonar, bumpers, etc. do not provide raw readings. This method was added to this base class for future lasers or other similar devices. Other kinds of range devices are sufficiently different from lasers that any "raw" information provided would usually require very different interpretation.

std::vector< ArSensorReading > * ArRangeDevice::getRawReadingsAsVector (  void   )  [virtual]

Gets the raw unfiltered readings from the device into a vector. Copies the list into a vector. Java and Python Wrappers: The return type will be named ArSensorReadingVector instead of the std::vector template type.

void ArRangeDevice::setCumulativeBufferSize (  size_t  size  )  [virtual]

Sets the maximum size of the buffer for cumulative readings. If the size is smaller than the cumulative buffer size, then the oldest readings are discarded, leaving only size newest readings. If size is larger than the cumulative buffer size, then the buffer size will be allowed to grow to that size as new readings are added. Parameters: size  number of readings to set the buffer to Reimplemented in ArLaser.

void ArRangeDevice::setCurrentBufferSize (  size_t  size  )  [virtual]

Sets the maximum size of the buffer for current readings. If the size is smaller than the current buffer size, then the oldest readings are discarded, leaving only size newest readings. If size is larger than the current size, then the buffer size will be allowed to grow to that size as new readings are added. Parameters: size  number of readings to set the buffer's maximum size to

void ArRangeDevice::setMaxDistToKeepCumulative (  double  maxDistToKeepCumulative  )  [inline]

sets the maximum distance cumulative readings can be from current pose Parameters: maxDistToKeepCumulative  if cumulative readings are further than this from where the current pose they are removed, if this is less than 0 they are not removed because of this

void ArRangeDevice::setMaxInsertDistCumulative (  double  maxInsertDistCumulative  )  [inline]

Sets the maximum distance a cumulative reading can be from the robot and still be inserted. Parameters: maxInsertDistCumulative  The maximum distance a cumulative reading can have from the robot's current position and still be inserted into the cumulative readings, this is applied in the addReading call so range devices need to call that for this to take effect.

void ArRangeDevice::setMaxSecondsToKeepCumulative (  int  maxSecondsToKeepCumulative  )  [inline]

gets the maximum seconds to keep cumulative readings around Parameters: maxSecondsToKeepCumulative  this is the number of seconds to keep cumulative readings around, if less than 0 then they are not automatically removed because of this

void ArRangeDevice::setMaxSecondsToKeepCurrent (  int  maxSecondsToKeepCurrent  )  [inline]

Sets the maximum seconds to keep current readings around. Parameters: maxSecondsToKeepCurrent  this is the number of seconds to keep current readings around, if less than 0 then they are not automatically removed because of this

void ArRangeDevice::setMinDistBetweenCumulative (  double  minDistBetweenCumulative  )  [inline]

Sets the minimum distance between cumulative readings. Parameters: minDistBetweenCumulative  The minimum distance between cumulative readings, this is applied in the addReading call so range devices need to call that for this to take effect.

void ArRangeDevice::setMinDistBetweenCurrent (  double  minDistBetweenCurrent  )  [inline]

Sets the minimum distance between current readings. Parameters: minDistBetweenCurrent  The minimum distance between current readings, this is applied in the addReading call so range devices need to call that for this to take effect.

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

• ArRangeDevice.h
• ArRangeDevice.cpp

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