YARP
Yet Another Robot Platform
LaserFromPointCloud Class Reference

laserFromPointCloud: Documentation to be added More...

#include <laserFromPointCloud/laserFromPointCloud.h>

+ Inheritance diagram for LaserFromPointCloud:

Public Member Functions

 LaserFromPointCloud (double period=0.01)
 
 ~LaserFromPointCloud ()
 
bool open (yarp::os::Searchable &config) override
 Open the DeviceDriver. More...
 
bool close () override
 Close the DeviceDriver. More...
 
bool threadInit () override
 Initialization method. More...
 
void threadRelease () override
 Release method. More...
 
void run () override
 Loop function. More...
 
bool setDistanceRange (double min, double max) override
 set the device detection range. More...
 
bool setScanLimits (double min, double max) override
 set the scan angular range. More...
 
bool setHorizontalResolution (double step) override
 get the angular step between two measurments (if available) More...
 
bool setScanRate (double rate) override
 set the scan rate (scans per seconds) More...
 
bool acquireDataFromHW () override final
 This method should be implemented by the user, and contain the logic to grab data from the hardware. More...
 
- Public Member Functions inherited from yarp::os::PeriodicThread
 PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
 Constructor. More...
 
 PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
 Constructor. More...
 
virtual ~PeriodicThread ()
 
bool start ()
 Call this to start the thread. More...
 
void step ()
 Call this to "step" the thread rather than starting it. More...
 
void stop ()
 Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called). More...
 
void askToStop ()
 Stop the thread. More...
 
bool isRunning () const
 Returns true when the thread is started, false otherwise. More...
 
bool isSuspended () const
 Returns true when the thread is suspended, false otherwise. More...
 
bool setPeriod (double period)
 Set the (new) period of the thread. More...
 
double getPeriod () const
 Return the current period of the thread. More...
 
void suspend ()
 Suspend the thread, the thread keeps running by doLoop is never executed. More...
 
void resume ()
 Resume the thread if previously suspended. More...
 
void resetStat ()
 Reset thread statistics. More...
 
double getEstimatedPeriod () const
 Return estimated period since last reset. More...
 
void getEstimatedPeriod (double &av, double &std) const
 Return estimated period since last reset. More...
 
unsigned int getIterations () const
 Return the number of iterations performed since last reset. More...
 
double getEstimatedUsed () const
 Return the estimated duration of the run() function since last reset. More...
 
void getEstimatedUsed (double &av, double &std) const
 Return estimated duration of the run() function since last reset. More...
 
int setPriority (int priority, int policy=-1)
 Set the priority and scheduling policy of the thread, if the OS supports that. More...
 
int getPriority () const
 Query the current priority of the thread, if the OS supports that. More...
 
int getPolicy () const
 Query the current scheduling policy of the thread, if the OS supports that. More...
 
- Public Member Functions inherited from yarp::dev::Lidar2DDeviceBase
bool parseConfiguration (yarp::os::Searchable &config)
 
 Lidar2DDeviceBase ()
 
bool getRawData (yarp::sig::Vector &data) override
 Get the device measurements. More...
 
bool getLaserMeasurement (std::vector< LaserMeasurementData > &data) override
 Get the device measurements. More...
 
bool getDeviceStatus (Device_status &status) override
 get the device status More...
 
bool getDeviceInfo (std::string &device_info) override
 get the device hardware charactestics More...
 
bool getDistanceRange (double &min, double &max) override
 get the device detection range More...
 
bool getScanLimits (double &min, double &max) override
 get the scan angular range. More...
 
bool getHorizontalResolution (double &step) override
 get the angular step between two measurments. More...
 
bool getScanRate (double &rate) override
 get the scan rate (scans per seconds) More...
 
virtual yarp::os::Stamp getLastInputStamp () override
 Return the time stamp relative to the last acquisition. More...
 
- Public Member Functions inherited from yarp::dev::IRangefinder2D
virtual ~IRangefinder2D ()
 
- Public Member Functions inherited from yarp::dev::IPreciselyTimed
virtual ~IPreciselyTimed ()
 
- Public Member Functions inherited from yarp::dev::DeviceDriver
 ~DeviceDriver () override=default
 Destructor. More...
 
template<class T >
bool view (T *&x)
 Get an interface to the device driver. More...
 
virtual DeviceDrivergetImplementation ()
 Some drivers are bureaucrats, pointing at others. More...
 
- Public Member Functions inherited from yarp::os::IConfig
virtual ~IConfig ()
 Destructor. More...
 
virtual bool configure (Searchable &config)
 Change online parameters. More...
 

Protected Attributes

PolyDriver m_rgbd_driver
 
IRGBDSensorm_iRGBD = nullptr
 
PolyDriver m_tc_driver
 
IFrameTransformm_iTc = nullptr
 
size_t m_depth_width = 0
 
size_t m_depth_height = 0
 
yarp::os::Property m_propIntrinsics
 
yarp::sig::IntrinsicParams m_intrinsics
 
yarp::sig::ImageOf< float > m_depth_image
 
size_t m_pc_stepx = 0
 
size_t m_pc_stepy = 0
 
yarp::sig::utils::PCL_ROI m_pc_roi
 
bool m_publish_ros_pc
 
std::string m_ground_frame_id
 
std::string m_camera_frame_id
 
double m_floor_height
 
double m_ceiling_height
 
double m_pointcloud_max_distance
 
yarp::sig::Matrix m_transform_mtrx
 
- Protected Attributes inherited from yarp::dev::Lidar2DDeviceBase
yarp::sig::Vector m_laser_data
 
yarp::os::Stamp m_timestamp
 
yarp::dev::IRangefinder2D::Device_status m_device_status
 
std::mutex m_mutex
 
std::string m_info
 
double m_scan_rate
 
size_t m_sensorsNum
 
double m_min_angle
 
double m_max_angle
 
double m_min_distance
 
double m_max_distance
 
double m_resolution
 
bool m_clip_max_enable
 
bool m_clip_min_enable
 
bool m_do_not_clip_and_allow_infinity_enable
 
std::vector< Range_tm_range_skip_vector
 

Additional Inherited Members

- Public Types inherited from yarp::dev::IRangefinder2D
enum  Device_status {
  DEVICE_OK_STANBY = 0 ,
  DEVICE_OK_IN_USE = 1 ,
  DEVICE_GENERAL_ERROR = 2 ,
  DEVICE_TIMEOUT = 3
}
 
- Protected Member Functions inherited from yarp::os::PeriodicThread
virtual void beforeStart ()
 Called just before a new thread starts. More...
 
virtual void afterStart (bool success)
 Called just after a new thread starts (or fails to start), this is executed by the same thread that calls start(). More...
 
- Protected Member Functions inherited from yarp::dev::Lidar2DDeviceBase
virtual bool updateLidarData ()
 This utility method calls in sequence: grabDataFromHW(), updateTimestamp and applyLimitsOnLaserData(). More...
 
virtual bool updateTimestamp ()
 By default, it automatically updates the internal timestamp with the yarp time. More...
 
virtual bool applyLimitsOnLaserData ()
 Apply the limits on the internally stored lidar measurements. More...
 

Detailed Description

laserFromPointCloud: Documentation to be added

Definition at line 38 of file laserFromPointCloud.h.

Constructor & Destructor Documentation

◆ LaserFromPointCloud()

LaserFromPointCloud::LaserFromPointCloud ( double  period = 0.01)
inline

Definition at line 68 of file laserFromPointCloud.h.

◆ ~LaserFromPointCloud()

LaserFromPointCloud::~LaserFromPointCloud ( )
inline

Definition at line 72 of file laserFromPointCloud.h.

Member Function Documentation

◆ acquireDataFromHW()

bool LaserFromPointCloud::acquireDataFromHW ( )
finaloverridevirtual

This method should be implemented by the user, and contain the logic to grab data from the hardware.

Returns
true/false if the method is successful.

Implements yarp::dev::Lidar2DDeviceBase.

Definition at line 351 of file laserFromPointCloud.cpp.

◆ close()

bool LaserFromPointCloud::close ( )
overridevirtual

Close the DeviceDriver.

Returns
true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 282 of file laserFromPointCloud.cpp.

◆ open()

bool LaserFromPointCloud::open ( yarp::os::Searchable config)
overridevirtual

Open the DeviceDriver.

Parameters
configis a list of parameters for the device. Which parameters are effective for your device can vary. See device invocation examples. If there is no example for your device, you can run the "yarpdev" program with the verbose flag set to probe what parameters the device is checking. If that fails too, you'll need to read the source code (please nag one of the yarp developers to add documentation for your device).
Returns
true/false upon success/failure

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 147 of file laserFromPointCloud.cpp.

◆ run()

void LaserFromPointCloud::run ( )
overridevirtual

Loop function.

This is the thread itself. The thread calls the run() function every <period> ms. At the end of each run, the thread will sleep the amounth of time required, taking into account the time spent inside the loop function. Example: requested period is 10ms, the run() function take 3ms to be executed, the thread will sleep for 7ms.

Note: after each run is completed, the thread will call a yield() in order to facilitate other threads to run.

Implements yarp::os::PeriodicThread.

Definition at line 564 of file laserFromPointCloud.cpp.

◆ setDistanceRange()

bool LaserFromPointCloud::setDistanceRange ( double  min,
double  max 
)
overridevirtual

set the device detection range.

Invalid setting will be discarded.

Parameters
minthe minimum detection distance
maxthe maximum detection distance
Returns
true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 298 of file laserFromPointCloud.cpp.

◆ setHorizontalResolution()

bool LaserFromPointCloud::setHorizontalResolution ( double  step)
overridevirtual

get the angular step between two measurments (if available)

Parameters
stepthe angular step between two measurments
Returns
true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 314 of file laserFromPointCloud.cpp.

◆ setScanLimits()

bool LaserFromPointCloud::setScanLimits ( double  min,
double  max 
)
overridevirtual

set the scan angular range.

Parameters
minstart angle of the scan
maxend angle of the scan
Returns
true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 307 of file laserFromPointCloud.cpp.

◆ setScanRate()

bool LaserFromPointCloud::setScanRate ( double  rate)
overridevirtual

set the scan rate (scans per seconds)

Parameters
ratethe scan rate
Returns
true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 321 of file laserFromPointCloud.cpp.

◆ threadInit()

bool LaserFromPointCloud::threadInit ( )
overridevirtual

Initialization method.

The thread executes this function when it starts and before "run". This is a good place to perform initialization tasks that need to be done by the thread itself (device drivers initialization, memory allocation etc). If the function returns false the thread quits and never calls "run". The return value of threadInit() is notified to the class and passed as a parameter to afterStart(). Note that afterStart() is called by the same thread that is executing the "start" method.

Reimplemented from yarp::os::PeriodicThread.

Definition at line 329 of file laserFromPointCloud.cpp.

◆ threadRelease()

void LaserFromPointCloud::threadRelease ( )
overridevirtual

Release method.

The thread executes this function once when it exits, after the last "run". This is a good place to release resources that were initialized in threadInit() (release memory, and device driver resources).

Reimplemented from yarp::os::PeriodicThread.

Definition at line 571 of file laserFromPointCloud.cpp.

Member Data Documentation

◆ m_camera_frame_id

std::string LaserFromPointCloud::m_camera_frame_id
protected

Definition at line 61 of file laserFromPointCloud.h.

◆ m_ceiling_height

double LaserFromPointCloud::m_ceiling_height
protected

Definition at line 63 of file laserFromPointCloud.h.

◆ m_depth_height

size_t LaserFromPointCloud::m_depth_height = 0
protected

Definition at line 48 of file laserFromPointCloud.h.

◆ m_depth_image

yarp::sig::ImageOf<float> LaserFromPointCloud::m_depth_image
protected

Definition at line 51 of file laserFromPointCloud.h.

◆ m_depth_width

size_t LaserFromPointCloud::m_depth_width = 0
protected

Definition at line 47 of file laserFromPointCloud.h.

◆ m_floor_height

double LaserFromPointCloud::m_floor_height
protected

Definition at line 62 of file laserFromPointCloud.h.

◆ m_ground_frame_id

std::string LaserFromPointCloud::m_ground_frame_id
protected

Definition at line 60 of file laserFromPointCloud.h.

◆ m_intrinsics

yarp::sig::IntrinsicParams LaserFromPointCloud::m_intrinsics
protected

Definition at line 50 of file laserFromPointCloud.h.

◆ m_iRGBD

IRGBDSensor* LaserFromPointCloud::m_iRGBD = nullptr
protected

Definition at line 42 of file laserFromPointCloud.h.

◆ m_iTc

IFrameTransform* LaserFromPointCloud::m_iTc = nullptr
protected

Definition at line 45 of file laserFromPointCloud.h.

◆ m_pc_roi

yarp::sig::utils::PCL_ROI LaserFromPointCloud::m_pc_roi
protected

Definition at line 56 of file laserFromPointCloud.h.

◆ m_pc_stepx

size_t LaserFromPointCloud::m_pc_stepx = 0
protected

Definition at line 54 of file laserFromPointCloud.h.

◆ m_pc_stepy

size_t LaserFromPointCloud::m_pc_stepy = 0
protected

Definition at line 55 of file laserFromPointCloud.h.

◆ m_pointcloud_max_distance

double LaserFromPointCloud::m_pointcloud_max_distance
protected

Definition at line 64 of file laserFromPointCloud.h.

◆ m_propIntrinsics

yarp::os::Property LaserFromPointCloud::m_propIntrinsics
protected

Definition at line 49 of file laserFromPointCloud.h.

◆ m_publish_ros_pc

bool LaserFromPointCloud::m_publish_ros_pc
protected

Definition at line 59 of file laserFromPointCloud.h.

◆ m_rgbd_driver

PolyDriver LaserFromPointCloud::m_rgbd_driver
protected

Definition at line 41 of file laserFromPointCloud.h.

◆ m_tc_driver

PolyDriver LaserFromPointCloud::m_tc_driver
protected

Definition at line 44 of file laserFromPointCloud.h.

◆ m_transform_mtrx

yarp::sig::Matrix LaserFromPointCloud::m_transform_mtrx
protected

Definition at line 65 of file laserFromPointCloud.h.


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