laserFromRosTopic: Documentation to be added More...

#include <laserFromRosTopic/LaserFromRosTopic.h>

Inheritance diagram for LaserFromRosTopic:

Public Member Functions
	LaserFromRosTopic (double period=0.01)

	~LaserFromRosTopic ()

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...

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...

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

Public Member Functions inherited from yarp::os::PeriodicThread
	PeriodicThread (double period, ShouldUseSystemClock useSystemClock=ShouldUseSystemClock::No)
	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::DeviceDriver
	~DeviceDriver () override=default
	Destructor. More...

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

virtual DeviceDriver *	getImplementation ()
	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 Member Functions
void	calculate (yarp::dev::LaserScan2D scan, yarp::sig::Matrix m)

Protected Member Functions inherited from yarp::dev::Lidar2DDeviceBase
void	applyLimitsOnLaserData ()

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 Attributes
bool	m_option_override_limits

std::vector< std::string >	m_port_names

yarp::os::Node *	m_ros_node = nullptr

std::vector< InputPortProcessor >	m_input_ports

std::vector< yarp::os::Stamp >	m_last_stamp

std::vector< yarp::dev::LaserScan2D >	m_last_scan_data

yarp::dev::PolyDriver	m_tc_driver

yarp::dev::IFrameTransform *	m_iTc = nullptr

std::vector< std::string >	m_src_frame_id

std::string	m_dst_frame_id

yarp::sig::Vector	m_empty_laser_data

base_enum	m_base_type

Protected Attributes inherited from yarp::dev::Lidar2DDeviceBase
yarp::sig::Vector	m_laser_data

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_t >	m_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 }

Detailed Description

laserFromRosTopic: Documentation to be added

Definition at line 84 of file LaserFromRosTopic.h.

Constructor & Destructor Documentation

◆ LaserFromRosTopic()

LaserFromRosTopic::LaserFromRosTopic ( double period = 0.01 )

inline

Definition at line 106 of file LaserFromRosTopic.h.

◆ ~LaserFromRosTopic()

LaserFromRosTopic::~LaserFromRosTopic ( )

inline

Definition at line 112 of file LaserFromRosTopic.h.

Member Function Documentation

◆ calculate()

void LaserFromRosTopic::calculate	(	yarp::dev::LaserScan2D	scan,
		yarp::sig::Matrix	m
	)

protected

Definition at line 345 of file LaserFromRosTopic.cpp.

◆ close()

bool LaserFromRosTopic::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 286 of file LaserFromRosTopic.cpp.

◆ open()

bool LaserFromRosTopic::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

@<-OK

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 131 of file LaserFromRosTopic.cpp.

◆ run()

void LaserFromRosTopic::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 418 of file LaserFromRosTopic.cpp.

◆ setDistanceRange()

bool LaserFromRosTopic::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 302 of file LaserFromRosTopic.cpp.

◆ setHorizontalResolution()

bool LaserFromRosTopic::setHorizontalResolution ( double step )

overridevirtual

get the angular step between two measurments (if available)

Parameters

step	the angular step between two measurments

Returns: true/false on success/failure.

Implements yarp::dev::IRangefinder2D.

Definition at line 319 of file LaserFromRosTopic.cpp.

◆ setScanLimits()

bool LaserFromRosTopic::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 310 of file LaserFromRosTopic.cpp.

◆ setScanRate()

bool LaserFromRosTopic::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 326 of file LaserFromRosTopic.cpp.

◆ threadInit()

bool LaserFromRosTopic::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 335 of file LaserFromRosTopic.cpp.

◆ threadRelease()

void LaserFromRosTopic::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 482 of file LaserFromRosTopic.cpp.

Member Data Documentation

◆ m_base_type

base_enum LaserFromRosTopic::m_base_type

protected

Definition at line 101 of file LaserFromRosTopic.h.

◆ m_dst_frame_id

std::string LaserFromRosTopic::m_dst_frame_id

protected

Definition at line 99 of file LaserFromRosTopic.h.

◆ m_empty_laser_data

yarp::sig::Vector LaserFromRosTopic::m_empty_laser_data

protected

Definition at line 100 of file LaserFromRosTopic.h.

◆ m_input_ports

std::vector<InputPortProcessor> LaserFromRosTopic::m_input_ports

protected

Definition at line 92 of file LaserFromRosTopic.h.

◆ m_iTc

yarp::dev::IFrameTransform* LaserFromRosTopic::m_iTc = nullptr

protected

Definition at line 96 of file LaserFromRosTopic.h.

◆ m_last_scan_data

std::vector<yarp::dev::LaserScan2D> LaserFromRosTopic::m_last_scan_data

protected

Definition at line 94 of file LaserFromRosTopic.h.

◆ m_last_stamp

std::vector<yarp::os::Stamp> LaserFromRosTopic::m_last_stamp

protected

Definition at line 93 of file LaserFromRosTopic.h.

◆ m_option_override_limits

bool LaserFromRosTopic::m_option_override_limits

protected

Definition at line 89 of file LaserFromRosTopic.h.

◆ m_port_names

std::vector<std::string> LaserFromRosTopic::m_port_names

protected

Definition at line 90 of file LaserFromRosTopic.h.

◆ m_ros_node

yarp::os::Node* LaserFromRosTopic::m_ros_node = nullptr

protected

Definition at line 91 of file LaserFromRosTopic.h.

◆ m_src_frame_id

std::vector<std::string> LaserFromRosTopic::m_src_frame_id

protected

Definition at line 98 of file LaserFromRosTopic.h.

◆ m_tc_driver

yarp::dev::PolyDriver LaserFromRosTopic::m_tc_driver

protected

Definition at line 95 of file LaserFromRosTopic.h.

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

src/devices/laserFromRosTopic/LaserFromRosTopic.h
src/devices/laserFromRosTopic/LaserFromRosTopic.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ LaserFromRosTopic()

◆ ~LaserFromRosTopic()

Member Function Documentation

◆ calculate()

◆ close()

◆ open()

◆ run()

◆ setDistanceRange()

◆ setHorizontalResolution()

◆ setScanLimits()

◆ setScanRate()

◆ threadInit()

◆ threadRelease()

Member Data Documentation

◆ m_base_type

◆ m_dst_frame_id

◆ m_empty_laser_data

◆ m_input_ports

◆ m_iTc

◆ m_last_scan_data

◆ m_last_stamp

◆ m_option_override_limits

◆ m_port_names

◆ m_ros_node

◆ m_src_frame_id

◆ m_tc_driver