A generic interface for planar laser range finders. More...

#include <yarp/dev/IRangefinder2D.h>

Inheritance diagram for yarp::dev::IRangefinder2D:

Public Types
enum	Device_status { DEVICE_OK_STANDBY = 0 , DEVICE_OK_IN_USE = 1 , DEVICE_GENERAL_ERROR = 2 , DEVICE_TIMEOUT = 3 }

Public Member Functions
virtual	~IRangefinder2D ()

virtual ReturnValue	getLaserMeasurement (std::vector< yarp::sig::LaserMeasurementData > &data, double *timestamp=nullptr)=0
	Get the device measurements.

virtual ReturnValue	getRawData (yarp::sig::Vector &data, double *timestamp=nullptr)=0
	Get the device measurements.

virtual ReturnValue	getDeviceStatus (Device_status &status)=0
	get the device status

virtual ReturnValue	getDistanceRange (double &min, double &max)=0
	get the device detection range

virtual ReturnValue	setDistanceRange (double min, double max)=0
	set the device detection range.

virtual ReturnValue	getScanLimits (double &min, double &max)=0
	get the scan angular range.

virtual ReturnValue	setScanLimits (double min, double max)=0
	set the scan angular range.

virtual ReturnValue	getHorizontalResolution (double &step)=0
	get the angular step between two measurements.

virtual ReturnValue	setHorizontalResolution (double step)=0
	get the angular step between two measurements (if available)

virtual ReturnValue	getScanRate (double &rate)=0
	get the scan rate (scans per seconds)

virtual ReturnValue	setScanRate (double rate)=0
	set the scan rate (scans per seconds)

virtual ReturnValue	getDeviceInfo (std::string &device_info)=0
	get the device hardware characteristics

Detailed Description

A generic interface for planar laser range finders.

Definition at line 33 of file IRangefinder2D.h.

Member Enumeration Documentation

◆ Device_status

enum yarp::dev::IRangefinder2D::Device_status

Enumerator
DEVICE_OK_STANDBY
DEVICE_OK_IN_USE
DEVICE_GENERAL_ERROR
DEVICE_TIMEOUT

Definition at line 36 of file IRangefinder2D.h.

Constructor & Destructor Documentation

◆ ~IRangefinder2D()

yarp::dev::IRangefinder2D::~IRangefinder2D ( )

virtualdefault

Member Function Documentation

◆ getDeviceInfo()

virtual ReturnValue yarp::dev::IRangefinder2D::getDeviceInfo ( std::string & device_info )

pure virtual

get the device hardware characteristics

Parameters

device_info string containing the device infos

Returns: true/false.

Implemented in RpLidar, Rangefinder2D_nwc_ros2, laserHokuyo, Rangefinder2D_nwc_yarp, Rangefinder2DTransformer, and yarp::dev::Lidar2DDeviceBase.

◆ getDeviceStatus()

virtual ReturnValue yarp::dev::IRangefinder2D::getDeviceStatus ( Device_status & status )

pure virtual

get the device status

Parameters

status the device status

Returns: true/false.

Implemented in RpLidar, Rangefinder2D_nwc_ros2, laserHokuyo, Rangefinder2D_nwc_yarp, Rangefinder2DTransformer, and yarp::dev::Lidar2DDeviceBase.

◆ getDistanceRange()

virtual ReturnValue yarp::dev::IRangefinder2D::getDistanceRange	(	double &	min,
		double &	max
	)

pure virtual

get the device detection range

Parameters

min	the minimum detection distance
max	the maximum detection distance

Returns: true/false.

Implemented in RpLidar, Rangefinder2D_nwc_ros2, laserHokuyo, Rangefinder2D_nwc_yarp, Rangefinder2DTransformer, and yarp::dev::Lidar2DDeviceBase.

◆ getHorizontalResolution()

virtual ReturnValue yarp::dev::IRangefinder2D::getHorizontalResolution ( double & step )

pure virtual

get the angular step between two measurements.

Parameters

step	the angular step between two measurements

Returns: true/false.

Implemented in RpLidar, Rangefinder2D_nwc_ros2, laserHokuyo, Rangefinder2D_nwc_yarp, Rangefinder2DTransformer, and yarp::dev::Lidar2DDeviceBase.

◆ getLaserMeasurement()

virtual ReturnValue yarp::dev::IRangefinder2D::getLaserMeasurement	(	std::vector< yarp::sig::LaserMeasurementData > &	data,
		double *	timestamp = `nullptr`
	)

pure virtual

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

Implemented in RpLidar, laserHokuyo, Rangefinder2D_nwc_ros2, Rangefinder2D_nwc_yarp, Rangefinder2DTransformer, and yarp::dev::Lidar2DDeviceBase.

◆ getRawData()

virtual ReturnValue yarp::dev::IRangefinder2D::getRawData	(	yarp::sig::Vector &	data,
		double *	timestamp = `nullptr`
	)

pure virtual

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.

Implemented in RpLidar, laserHokuyo, Rangefinder2D_nwc_ros2, Rangefinder2D_nwc_yarp, Rangefinder2DTransformer, and yarp::dev::Lidar2DDeviceBase.

◆ getScanLimits()

virtual ReturnValue yarp::dev::IRangefinder2D::getScanLimits	(	double &	min,
		double &	max
	)

pure virtual

get the scan angular range.

Parameters

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

Returns: true/false.

Implemented in RpLidar, Rangefinder2D_nwc_ros2, laserHokuyo, Rangefinder2D_nwc_yarp, Rangefinder2DTransformer, and yarp::dev::Lidar2DDeviceBase.

◆ getScanRate()

virtual ReturnValue yarp::dev::IRangefinder2D::getScanRate ( double & rate )

pure virtual

get the scan rate (scans per seconds)

Parameters

rate	the scan rate

Returns: true/false.

Implemented in RpLidar, Rangefinder2D_nwc_ros2, laserHokuyo, Rangefinder2D_nwc_yarp, Rangefinder2DTransformer, and yarp::dev::Lidar2DDeviceBase.

◆ setDistanceRange()

virtual ReturnValue yarp::dev::IRangefinder2D::setDistanceRange	(	double	min,
		double	max
	)

pure virtual

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.

Implemented in RpLidar, RpLidar2, RpLidar3, RpLidar4, LaserFromRosTopic, Rangefinder2D_nwc_ros2, FakeLaser, FakeLaserWithMotor, LaserFromDepth, LaserFromExternalPort, LaserFromPointCloud, laserHokuyo, Rangefinder2D_nwc_yarp, and Rangefinder2DTransformer.

◆ setHorizontalResolution()

virtual ReturnValue yarp::dev::IRangefinder2D::setHorizontalResolution ( double step )

pure virtual

get the angular step between two measurements (if available)

Parameters

step	the angular step between two measurements

Returns: true/false on success/failure.

Implemented in RpLidar, RpLidar2, RpLidar3, RpLidar4, LaserFromRosTopic, Rangefinder2D_nwc_ros2, FakeLaser, FakeLaserWithMotor, LaserFromDepth, LaserFromExternalPort, LaserFromPointCloud, laserHokuyo, Rangefinder2D_nwc_yarp, and Rangefinder2DTransformer.

◆ setScanLimits()

virtual ReturnValue yarp::dev::IRangefinder2D::setScanLimits	(	double	min,
		double	max
	)

pure virtual

set the scan angular range.

Parameters

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

Returns: true/false on success/failure.

Implemented in RpLidar, RpLidar2, RpLidar3, RpLidar4, LaserFromRosTopic, Rangefinder2D_nwc_ros2, FakeLaser, FakeLaserWithMotor, LaserFromDepth, LaserFromExternalPort, LaserFromPointCloud, laserHokuyo, Rangefinder2D_nwc_yarp, and Rangefinder2DTransformer.

◆ setScanRate()

virtual ReturnValue yarp::dev::IRangefinder2D::setScanRate ( double rate )

pure virtual

set the scan rate (scans per seconds)

Parameters

rate	the scan rate

Returns: true/false on success/failure.

Implemented in RpLidar, RpLidar2, RpLidar3, RpLidar4, LaserFromRosTopic, Rangefinder2D_nwc_ros2, FakeLaser, FakeLaserWithMotor, LaserFromDepth, LaserFromExternalPort, LaserFromPointCloud, laserHokuyo, Rangefinder2D_nwc_yarp, and Rangefinder2DTransformer.

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

src/libYARP_dev/src/yarp/dev/IRangefinder2D.h
src/libYARP_dev/src/yarp/dev/IRangefinder2D.cpp

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ Device_status

Constructor & Destructor Documentation

◆ ~IRangefinder2D()

Member Function Documentation

◆ getDeviceInfo()

◆ getDeviceStatus()

◆ getDistanceRange()

◆ getHorizontalResolution()

◆ getLaserMeasurement()

◆ getRawData()

◆ getScanLimits()

◆ getScanRate()

◆ setDistanceRange()

◆ setHorizontalResolution()

◆ setScanLimits()

◆ setScanRate()