rpLidar: Documentation to be added More...

#include </home/runner/work/yarp-documentation/yarp-documentation/yarp/opt-modules/yarp-device-rplidar/src/devices/rpLidar/rpLidar.h>

Inheritance diagram for RpLidar:

Public Member Functions
	RpLidar (double period=0.01)

	~RpLidar ()

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

bool	close () override
	Close the DeviceDriver.

bool	threadInit () override
	Initialization method.

void	threadRelease () override
	Release method.

void	run () override
	Loop function.

bool	getRawData (yarp::sig::Vector &data, double *timestamp) override
	Get the device measurements.

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

bool	getDeviceStatus (Device_status &status) override
	get the device status

bool	getDeviceInfo (std::string &device_info) override
	get the device hardware characteristics

bool	getDistanceRange (double &min, double &max) override
	get the device detection range

bool	setDistanceRange (double min, double max) override
	set the device detection range.

bool	getScanLimits (double &min, double &max) override
	get the scan angular range.

bool	setScanLimits (double min, double max) override
	set the scan angular range.

bool	getHorizontalResolution (double &step) override
	get the angular step between two measurements.

bool	setHorizontalResolution (double step) override
	get the angular step between two measurements (if available)

bool	getScanRate (double &rate) override
	get the scan rate (scans per seconds)

bool	setScanRate (double rate) override
	set the scan rate (scans per seconds)

Public Member Functions inherited from yarp::os::PeriodicThread
	PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No, PeriodicThreadClock clockAccuracy=PeriodicThreadClock::Relative)
	Constructor.

	PeriodicThread (double period, PeriodicThreadClock clockAccuracy)
	Constructor.

virtual	~PeriodicThread ()

bool	start ()
	Call this to start the thread.

void	step ()
	Call this to "step" the thread rather than starting it.

void	stop ()
	Call this to stop the thread, this call blocks until the thread is terminated (and releaseThread() called).

void	askToStop ()
	Stop the thread.

bool	isRunning () const
	Returns true when the thread is started, false otherwise.

bool	isSuspended () const
	Returns true when the thread is suspended, false otherwise.

bool	setPeriod (double period)
	Set the (new) period of the thread.

double	getPeriod () const
	Return the current period of the thread.

void	suspend ()
	Suspend the thread, the thread keeps running by doLoop is never executed.

void	resume ()
	Resume the thread if previously suspended.

void	resetStat ()
	Reset thread statistics.

double	getEstimatedPeriod () const
	Return estimated period since last reset.

void	getEstimatedPeriod (double &av, double &std) const
	Return estimated period since last reset.

unsigned int	getIterations () const
	Return the number of iterations performed since last reset.

double	getEstimatedUsed () const
	Return the estimated duration of the run() function since last reset.

void	getEstimatedUsed (double &av, double &std) const
	Return estimated duration of the run() function since last reset.

int	setPriority (int priority, int policy=-1)
	Set the priority and scheduling policy of the thread, if the OS supports that.

int	getPriority () const
	Query the current priority of the thread, if the OS supports that.

int	getPolicy () const
	Query the current scheduling policy of the thread, if the OS supports that.

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

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.

Protected Attributes
PolyDriver	driver

ISerialDevice *	pSerial

std::mutex	mutex

rpLidarCircularBuffer *	buffer

int	sensorsNum

double	min_angle

double	max_angle

double	min_distance

double	max_distance

double	resolution

bool	clip_max_enable

bool	clip_min_enable

bool	do_not_clip_infinity_enable

std::vector< Range_t >	range_skip_vector

std::string	info

Device_status	device_status

yarp::sig::Vector	laser_data

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 }

Protected Member Functions inherited from yarp::os::PeriodicThread
virtual void	beforeStart ()
	Called just before a new thread starts.

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().

Detailed Description

rpLidar: Documentation to be added

Definition at line 176 of file rpLidar.h.

Constructor & Destructor Documentation

◆ RpLidar()

RpLidar::RpLidar ( double period = 0.01 )

inline

Definition at line 203 of file rpLidar.h.

◆ ~RpLidar()

RpLidar::~RpLidar ( )

inline

Definition at line 220 of file rpLidar.h.

Member Function Documentation

◆ close()

bool RpLidar::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 191 of file rpLidar.cpp.

◆ getDeviceInfo()

bool RpLidar::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 724 of file rpLidar.cpp.

◆ getDeviceStatus()

bool RpLidar::getDeviceStatus ( Device_status & status )

overridevirtual

get the device status

Parameters

status the device status

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 296 of file rpLidar.cpp.

◆ getDistanceRange()

bool RpLidar::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 209 of file rpLidar.cpp.

◆ getHorizontalResolution()

bool RpLidar::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 241 of file rpLidar.cpp.

◆ getLaserMeasurement()

bool RpLidar::getLaserMeasurement	(	std::vector< yarp::sig::LaserMeasurementData > &	data,
		double *	timestamp
	)

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 278 of file rpLidar.cpp.

◆ getRawData()

bool RpLidar::getRawData	(	yarp::sig::Vector &	data,
		double *	timestamp
	)

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 270 of file rpLidar.cpp.

◆ getScanLimits()

bool RpLidar::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 225 of file rpLidar.cpp.

◆ getScanRate()

bool RpLidar::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 255 of file rpLidar.cpp.

◆ open()

bool RpLidar::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 47 of file rpLidar.cpp.

◆ run()

void RpLidar::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 477 of file rpLidar.cpp.

◆ setDistanceRange()

bool RpLidar::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 217 of file rpLidar.cpp.

◆ setHorizontalResolution()

bool RpLidar::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 248 of file rpLidar.cpp.

◆ setScanLimits()

bool RpLidar::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 233 of file rpLidar.cpp.

◆ setScanRate()

bool RpLidar::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 262 of file rpLidar.cpp.

◆ threadInit()

bool RpLidar::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 303 of file rpLidar.cpp.

◆ threadRelease()

void RpLidar::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 714 of file rpLidar.cpp.

Member Data Documentation

◆ buffer

rpLidarCircularBuffer* RpLidar::buffer

protected

Definition at line 183 of file rpLidar.h.

◆ clip_max_enable

bool RpLidar::clip_max_enable

protected

Definition at line 192 of file rpLidar.h.

◆ clip_min_enable

bool RpLidar::clip_min_enable

protected

Definition at line 193 of file rpLidar.h.

◆ device_status

Device_status RpLidar::device_status

protected

Definition at line 198 of file rpLidar.h.

◆ do_not_clip_infinity_enable

bool RpLidar::do_not_clip_infinity_enable

protected

Definition at line 194 of file rpLidar.h.

◆ driver

PolyDriver RpLidar::driver

protected

Definition at line 179 of file rpLidar.h.

◆ info

std::string RpLidar::info

protected

Definition at line 197 of file rpLidar.h.

◆ laser_data

yarp::sig::Vector RpLidar::laser_data

protected

Definition at line 200 of file rpLidar.h.

◆ max_angle

double RpLidar::max_angle

protected

Definition at line 188 of file rpLidar.h.

◆ max_distance

double RpLidar::max_distance

protected

Definition at line 190 of file rpLidar.h.

◆ min_angle

double RpLidar::min_angle

protected

Definition at line 187 of file rpLidar.h.

◆ min_distance

double RpLidar::min_distance

protected

Definition at line 189 of file rpLidar.h.

◆ mutex

std::mutex RpLidar::mutex

protected

Definition at line 182 of file rpLidar.h.

◆ pSerial

ISerialDevice* RpLidar::pSerial

protected

Definition at line 180 of file rpLidar.h.

◆ range_skip_vector

std::vector<Range_t> RpLidar::range_skip_vector

protected

Definition at line 195 of file rpLidar.h.

◆ resolution

double RpLidar::resolution

protected

Definition at line 191 of file rpLidar.h.

◆ sensorsNum

int RpLidar::sensorsNum

protected

Definition at line 185 of file rpLidar.h.

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

opt-modules/yarp-device-rplidar/src/devices/rpLidar/rpLidar.h
opt-modules/yarp-device-rplidar/src/devices/rpLidar/rpLidar.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RpLidar()

◆ ~RpLidar()

Member Function Documentation

◆ close()

◆ getDeviceInfo()

◆ getDeviceStatus()

◆ getDistanceRange()

◆ getHorizontalResolution()

◆ getLaserMeasurement()

◆ getRawData()

◆ getScanLimits()

◆ getScanRate()

◆ open()

◆ run()

◆ setDistanceRange()

◆ setHorizontalResolution()

◆ setScanLimits()

◆ setScanRate()

◆ threadInit()

◆ threadRelease()

Member Data Documentation

◆ buffer

◆ clip_max_enable

◆ clip_min_enable

◆ device_status

◆ do_not_clip_infinity_enable

◆ driver

◆ info

◆ laser_data

◆ max_angle

◆ max_distance

◆ min_angle

◆ min_distance

◆ mutex

◆ pSerial

◆ range_skip_vector

◆ resolution

◆ sensorsNum