laserHokuyo: Documentation to be added More...

#include <laserHokuyo/laserHokuyo.h>

Inheritance diagram for laserHokuyo:

Classes
struct	sensor_property_struct

Public Member Functions
	laserHokuyo (double period=0.02)

	~laserHokuyo ()

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 Types
enum	Laser_mode_type { FAKE_MODE =2 , GD_MODE =1 , MD_MODE =0 }

enum	Error_code { HOKUYO_STATUS_ACQUISITION_COMPLETE =1 , HOKUYO_STATUS_OK = 0 , HOKUYO_STATUS_ERROR_BUSY = -1 , HOKUYO_STATUS_ERROR_INVALID_COMMAND = -2 , HOKUYO_STATUS_ERROR_INVALID_CHECKSUM = -3 , HOKUYO_STATUS_ERROR_NOTHING_RECEIVED = -4 , HOKUYO_STATUS_NOT_READY = -5 }

Protected Attributes
PolyDriver	driver

ISerialDevice *	pSerial

std::mutex	mutex

int	cardId

double	period

int	sensorsNum

int	start_position

int	end_position

double	min_angle

double	max_angle

int	error_codes

int	internal_status

std::string	info

Device_status	device_status

Laser_mode_type	laser_mode

struct laserHokuyo::sensor_property_struct	sensor_properties

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

laserHokuyo: Documentation to be added

Definition at line 28 of file laserHokuyo.h.

Member Enumeration Documentation

◆ Error_code

enum laserHokuyo::Error_code

protected

Enumerator
HOKUYO_STATUS_ACQUISITION_COMPLETE
HOKUYO_STATUS_OK
HOKUYO_STATUS_ERROR_BUSY
HOKUYO_STATUS_ERROR_INVALID_COMMAND
HOKUYO_STATUS_ERROR_INVALID_CHECKSUM
HOKUYO_STATUS_ERROR_NOTHING_RECEIVED
HOKUYO_STATUS_NOT_READY

Definition at line 49 of file laserHokuyo.h.

◆ Laser_mode_type

enum laserHokuyo::Laser_mode_type

protected

Enumerator
FAKE_MODE
GD_MODE
MD_MODE

Definition at line 48 of file laserHokuyo.h.

Constructor & Destructor Documentation

◆ laserHokuyo()

laserHokuyo::laserHokuyo ( double period = 0.02 )

inline

Definition at line 77 of file laserHokuyo.h.

◆ ~laserHokuyo()

laserHokuyo::~laserHokuyo ( )

inline

Definition at line 95 of file laserHokuyo.h.

Member Function Documentation

◆ close()

bool laserHokuyo::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 262 of file laserHokuyo.cpp.

◆ getDeviceInfo()

bool laserHokuyo::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 583 of file laserHokuyo.cpp.

◆ getDeviceStatus()

bool laserHokuyo::getDeviceStatus ( Device_status & status )

overridevirtual

get the device status

Parameters

status the device status

Returns: true/false.

Implements yarp::dev::IRangefinder2D.

Definition at line 379 of file laserHokuyo.cpp.

◆ getDistanceRange()

bool laserHokuyo::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 283 of file laserHokuyo.cpp.

◆ getHorizontalResolution()

bool laserHokuyo::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 311 of file laserHokuyo.cpp.

◆ getLaserMeasurement()

bool laserHokuyo::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 350 of file laserHokuyo.cpp.

◆ getRawData()

bool laserHokuyo::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 335 of file laserHokuyo.cpp.

◆ getScanLimits()

bool laserHokuyo::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 297 of file laserHokuyo.cpp.

◆ getScanRate()

bool laserHokuyo::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 323 of file laserHokuyo.cpp.

◆ open()

bool laserHokuyo::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 30 of file laserHokuyo.cpp.

◆ run()

void laserHokuyo::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 506 of file laserHokuyo.cpp.

◆ setDistanceRange()

bool laserHokuyo::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 291 of file laserHokuyo.cpp.

◆ setHorizontalResolution()

bool laserHokuyo::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 317 of file laserHokuyo.cpp.

◆ setScanLimits()

bool laserHokuyo::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 305 of file laserHokuyo.cpp.

◆ setScanRate()

bool laserHokuyo::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 329 of file laserHokuyo.cpp.

◆ threadInit()

bool laserHokuyo::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 387 of file laserHokuyo.cpp.

◆ threadRelease()

void laserHokuyo::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 577 of file laserHokuyo.cpp.

Member Data Documentation

◆ cardId

int laserHokuyo::cardId

protected

Definition at line 36 of file laserHokuyo.h.

◆ device_status

Device_status laserHokuyo::device_status

protected

Definition at line 46 of file laserHokuyo.h.

◆ driver

PolyDriver laserHokuyo::driver

protected

Definition at line 31 of file laserHokuyo.h.

◆ end_position

int laserHokuyo::end_position

protected

Definition at line 40 of file laserHokuyo.h.

◆ error_codes

int laserHokuyo::error_codes

protected

Definition at line 43 of file laserHokuyo.h.

◆ info

std::string laserHokuyo::info

protected

Definition at line 45 of file laserHokuyo.h.

◆ internal_status

int laserHokuyo::internal_status

protected

Definition at line 44 of file laserHokuyo.h.

◆ laser_data

yarp::sig::Vector laserHokuyo::laser_data

protected

Definition at line 74 of file laserHokuyo.h.

◆ laser_mode

Laser_mode_type laserHokuyo::laser_mode

protected

Definition at line 60 of file laserHokuyo.h.

◆ max_angle

double laserHokuyo::max_angle

protected

Definition at line 42 of file laserHokuyo.h.

◆ min_angle

double laserHokuyo::min_angle

protected

Definition at line 41 of file laserHokuyo.h.

◆ mutex

std::mutex laserHokuyo::mutex

protected

Definition at line 34 of file laserHokuyo.h.

◆ period

double laserHokuyo::period

protected

Definition at line 37 of file laserHokuyo.h.

◆ pSerial

ISerialDevice* laserHokuyo::pSerial

protected

Definition at line 32 of file laserHokuyo.h.

◆ sensor_properties

struct laserHokuyo::sensor_property_struct laserHokuyo::sensor_properties

protected

◆ sensorsNum

int laserHokuyo::sensorsNum

protected

Definition at line 38 of file laserHokuyo.h.

◆ start_position

int laserHokuyo::start_position

protected

Definition at line 39 of file laserHokuyo.h.

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

src/devices/laserHokuyo/laserHokuyo.h
src/devices/laserHokuyo/laserHokuyo.cpp

Classes

Public Member Functions

Protected Types

Protected Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ Error_code

◆ Laser_mode_type

Constructor & Destructor Documentation

◆ laserHokuyo()

◆ ~laserHokuyo()

Member Function Documentation

◆ close()

◆ getDeviceInfo()

◆ getDeviceStatus()

◆ getDistanceRange()

◆ getHorizontalResolution()

◆ getLaserMeasurement()

◆ getRawData()

◆ getScanLimits()

◆ getScanRate()

◆ open()

◆ run()

◆ setDistanceRange()

◆ setHorizontalResolution()

◆ setScanLimits()

◆ setScanRate()

◆ threadInit()

◆ threadRelease()

Member Data Documentation

◆ cardId

◆ device_status

◆ driver

◆ end_position

◆ error_codes

◆ info

◆ internal_status

◆ laser_data

◆ laser_mode

◆ max_angle

◆ min_angle

◆ mutex

◆ period

◆ pSerial

◆ sensor_properties

◆ sensorsNum

◆ start_position