Rangefinder2D_nwc_yarp: The client side of any ILaserRangefinder2D capable device. More...

#include <networkWrappers/Rangefinder2D_nwc_yarp/Rangefinder2D_nwc_yarp.h>

Inheritance diagram for Rangefinder2D_nwc_yarp:

Public Member Functions
bool	open (yarp::os::Searchable &config) override
	Open the DeviceDriver.

bool	close () override
	Close the DeviceDriver.

yarp::dev::ReturnValue	getLaserMeasurement (std::vector< yarp::sig::LaserMeasurementData > &data, double *timestamp=nullptr) override
	Get the device measurements.

yarp::dev::ReturnValue	getRawData (yarp::sig::Vector &data, double *timestamp=nullptr) override
	Get the device measurements.

yarp::dev::ReturnValue	getDeviceStatus (Device_status &status) override
	get the device status

yarp::dev::ReturnValue	getDistanceRange (double &min, double &max) override
	get the device detection range

yarp::dev::ReturnValue	setDistanceRange (double min, double max) override
	set the device detection range.

yarp::dev::ReturnValue	getScanLimits (double &min, double &max) override
	get the scan angular range.

yarp::dev::ReturnValue	setScanLimits (double min, double max) override
	set the scan angular range.

yarp::dev::ReturnValue	getHorizontalResolution (double &step) override
	get the angular step between two measurements.

yarp::dev::ReturnValue	setHorizontalResolution (double step) override
	get the angular step between two measurements (if available)

yarp::dev::ReturnValue	getScanRate (double &rate) override
	get the scan rate (scans per seconds)

yarp::dev::ReturnValue	setScanRate (double rate) override
	set the scan rate (scans per seconds)

yarp::dev::ReturnValue	getDeviceInfo (std::string &device_info) override
	get the device hardware characteristics

Public Member Functions inherited from yarp::dev::DeviceDriver
	DeviceDriver ()

	DeviceDriver (const DeviceDriver &other)=delete

	DeviceDriver (DeviceDriver &&other) noexcept=delete

DeviceDriver &	operator= (const DeviceDriver &other)=delete

DeviceDriver &	operator= (DeviceDriver &&other) noexcept=delete

virtual	~DeviceDriver ()

virtual std::string	id () const
	Return the id assigned to the PolyDriver.

virtual void	setId (const std::string &id)
	Set the id for this device.

template<class T >
bool	view (T *&x)
	Get an interface to the device driver.

virtual DeviceDriver *	getImplementation ()
	Some drivers are bureaucrats, pointing at others.

Public Member Functions inherited from yarp::dev::IRangefinder2D
virtual	~IRangefinder2D ()

Public Member Functions inherited from Rangefinder2D_nwc_yarp_ParamsParser
	Rangefinder2D_nwc_yarp_ParamsParser ()

	~Rangefinder2D_nwc_yarp_ParamsParser () override=default

bool	parseParams (const yarp::os::Searchable &config) override
	Parse the DeviceDriver parameters.

std::string	getDeviceClassName () const override
	Get the name of the DeviceDriver class.

std::string	getDeviceName () const override
	Get the name of the device (i.e.

std::string	getDocumentationOfDeviceParams () const override
	Get the documentation of the DeviceDriver's parameters.

std::vector< std::string >	getListOfParams () const override
	Return a list of all params used by the device.

Public Member Functions inherited from yarp::dev::IDeviceDriverParams
virtual	~IDeviceDriverParams ()

Protected Attributes
Rangefinder2D_InputPortProcessor	m_inputPort

IRangefinder2DMsgs	m_RPC

std::mutex	m_mutex

yarp::os::Port	m_rpcPort

yarp::os::Stamp	m_lastTs

std::string	m_deviceId

double	m_scan_angle_min = std::nan("1")

double	m_scan_angle_max = std::nan("1")

std::string	m_laser_frame_name

std::string	m_robot_frame_name

Additional Inherited Members
Public Types inherited from yarp::dev::IRangefinder2D
enum	Device_status { DEVICE_OK_STANDBY = 0 , DEVICE_OK_IN_USE = 1 , DEVICE_GENERAL_ERROR = 2 , DEVICE_TIMEOUT = 3 }

Public Attributes inherited from Rangefinder2D_nwc_yarp_ParamsParser
const std::string	m_device_classname = {"Rangefinder2D_nwc_yarp"}

const std::string	m_device_name = {"rangefinder2D_nwc_yarp"}

bool	m_parser_is_strict = false

const parser_version_type	m_parser_version = {}

const std::string	m_local_defaultValue = {""}

const std::string	m_remote_defaultValue = {""}

const std::string	m_carrier_defaultValue = {"tcp"}

std::string	m_local = {}

std::string	m_remote = {}

std::string	m_carrier = {"tcp"}

Detailed Description

Rangefinder2D_nwc_yarp: The client side of any ILaserRangefinder2D capable device.

Parameters required by this device are shown in class: Rangefinder2D_nwc_yarp_ParamsParser

Definition at line 69 of file Rangefinder2D_nwc_yarp.h.

Member Function Documentation

◆ close()

bool Rangefinder2D_nwc_yarp::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 205 of file Rangefinder2D_nwc_yarp.cpp.

◆ getDeviceInfo()

ReturnValue Rangefinder2D_nwc_yarp::getDeviceInfo ( std::string & device_info )

overridevirtual

get the device hardware characteristics

Parameters

device_info string containing the device infos

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 357 of file Rangefinder2D_nwc_yarp.cpp.

◆ getDeviceStatus()

ReturnValue Rangefinder2D_nwc_yarp::getDeviceStatus ( Device_status & status )

overridevirtual

get the device status

Parameters

status the device status

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 350 of file Rangefinder2D_nwc_yarp.cpp.

◆ getDistanceRange()

ReturnValue Rangefinder2D_nwc_yarp::getDistanceRange	(	double &	min,
		double &	max
	)

overridevirtual

get the device detection range

Parameters

min	the minimum detection distance
max	the maximum detection distance

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 255 of file Rangefinder2D_nwc_yarp.cpp.

◆ getHorizontalResolution()

ReturnValue Rangefinder2D_nwc_yarp::getHorizontalResolution ( double & step )

overridevirtual

get the angular step between two measurements.

Parameters

step	the angular step between two measurements

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 304 of file Rangefinder2D_nwc_yarp.cpp.

◆ getLaserMeasurement()

ReturnValue Rangefinder2D_nwc_yarp::getLaserMeasurement	(	std::vector< yarp::sig::LaserMeasurementData > &	data,
		double *	timestamp = `nullptr`
	)

overridevirtual

Get the device measurements.

Parameters

data	a vector containing the measurement data, expressed in Cartesian/polar format
timestamp	the timestamp of the retrieved data.

Returns: true/false

Implements yarp::dev::IRangefinder2D.

Definition at line 228 of file Rangefinder2D_nwc_yarp.cpp.

◆ getRawData()

ReturnValue Rangefinder2D_nwc_yarp::getRawData	(	yarp::sig::Vector &	data,
		double *	timestamp = `nullptr`
	)

overridevirtual

Get the device measurements.

Parameters

ranges	the vector containing the raw measurement data, as acquired by the device.
timestamp	the timestamp of the retrieved data.

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 213 of file Rangefinder2D_nwc_yarp.cpp.

◆ getScanLimits()

ReturnValue Rangefinder2D_nwc_yarp::getScanLimits	(	double &	min,
		double &	max
	)

overridevirtual

get the scan angular range.

Parameters

min	start angle of the scan
max	end angle of the scan

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 280 of file Rangefinder2D_nwc_yarp.cpp.

◆ getScanRate()

ReturnValue Rangefinder2D_nwc_yarp::getScanRate ( double & rate )

overridevirtual

get the scan rate (scans per seconds)

Parameters

rate	the scan rate

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 327 of file Rangefinder2D_nwc_yarp.cpp.

◆ open()

bool Rangefinder2D_nwc_yarp::open ( yarp::os::Searchable & config )

overridevirtual

Open the DeviceDriver.

Parameters

config is 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 155 of file Rangefinder2D_nwc_yarp.cpp.

◆ setDistanceRange()

ReturnValue Rangefinder2D_nwc_yarp::setDistanceRange	(	double	min,
		double	max
	)

overridevirtual

set the device detection range.

Invalid setting will be discarded.

Parameters

min	the minimum detection distance
max	the maximum detection distance

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 268 of file Rangefinder2D_nwc_yarp.cpp.

◆ setHorizontalResolution()

ReturnValue Rangefinder2D_nwc_yarp::setHorizontalResolution ( double step )

overridevirtual

get the angular step between two measurements (if available)

Parameters

step	the angular step between two measurements

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 316 of file Rangefinder2D_nwc_yarp.cpp.

◆ setScanLimits()

ReturnValue Rangefinder2D_nwc_yarp::setScanLimits	(	double	min,
		double	max
	)

overridevirtual

set the scan angular range.

Parameters

min	start angle of the scan
max	end angle of the scan

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 293 of file Rangefinder2D_nwc_yarp.cpp.

◆ setScanRate()

ReturnValue Rangefinder2D_nwc_yarp::setScanRate ( double rate )

overridevirtual

set the scan rate (scans per seconds)

Parameters

rate	the scan rate

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 339 of file Rangefinder2D_nwc_yarp.cpp.

Member Data Documentation

◆ m_deviceId

std::string Rangefinder2D_nwc_yarp::m_deviceId

protected

Definition at line 81 of file Rangefinder2D_nwc_yarp.h.

◆ m_inputPort

Rangefinder2D_InputPortProcessor Rangefinder2D_nwc_yarp::m_inputPort

protected

Definition at line 75 of file Rangefinder2D_nwc_yarp.h.

◆ m_laser_frame_name

std::string Rangefinder2D_nwc_yarp::m_laser_frame_name

protected

Definition at line 85 of file Rangefinder2D_nwc_yarp.h.

◆ m_lastTs

yarp::os::Stamp Rangefinder2D_nwc_yarp::m_lastTs

protected

Definition at line 80 of file Rangefinder2D_nwc_yarp.h.

◆ m_mutex

std::mutex Rangefinder2D_nwc_yarp::m_mutex

protected

Definition at line 77 of file Rangefinder2D_nwc_yarp.h.

◆ m_robot_frame_name

std::string Rangefinder2D_nwc_yarp::m_robot_frame_name

protected

Definition at line 86 of file Rangefinder2D_nwc_yarp.h.

◆ m_RPC

IRangefinder2DMsgs Rangefinder2D_nwc_yarp::m_RPC

protected

Definition at line 76 of file Rangefinder2D_nwc_yarp.h.

◆ m_rpcPort

yarp::os::Port Rangefinder2D_nwc_yarp::m_rpcPort

protected

Definition at line 79 of file Rangefinder2D_nwc_yarp.h.

◆ m_scan_angle_max

double Rangefinder2D_nwc_yarp::m_scan_angle_max = std::nan("1")

protected

Definition at line 84 of file Rangefinder2D_nwc_yarp.h.

◆ m_scan_angle_min

double Rangefinder2D_nwc_yarp::m_scan_angle_min = std::nan("1")

protected

Definition at line 83 of file Rangefinder2D_nwc_yarp.h.

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

src/devices/networkWrappers/Rangefinder2D_nwc_yarp/Rangefinder2D_nwc_yarp.h
src/devices/networkWrappers/Rangefinder2D_nwc_yarp/Rangefinder2D_nwc_yarp.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ close()

◆ getDeviceInfo()

◆ getDeviceStatus()

◆ getDistanceRange()

◆ getHorizontalResolution()

◆ getLaserMeasurement()

◆ getRawData()

◆ getScanLimits()

◆ getScanRate()

◆ open()

◆ setDistanceRange()

◆ setHorizontalResolution()

◆ setScanLimits()

◆ setScanRate()

Member Data Documentation

◆ m_deviceId

◆ m_inputPort

◆ m_laser_frame_name

◆ m_lastTs

◆ m_mutex

◆ m_robot_frame_name

◆ m_RPC

◆ m_rpcPort

◆ m_scan_angle_max

◆ m_scan_angle_min