rpLidar2: Documentation to be added More...

#include <rpLidar2/rpLidar2.h>

Inheritance diagram for RpLidar2:

Public Member Functions
	RpLidar2 (double period=0.01)

	~RpLidar2 ()

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::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::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::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 Attributes
int	m_buffer_life

bool	m_inExpressMode

int	m_pwm_val

std::string	m_serialPort

rplidardrv *	m_drv

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 }

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

Detailed Description

rpLidar2: Documentation to be added

Definition at line 49 of file rpLidar2.h.

Constructor & Destructor Documentation

◆ RpLidar2()

RpLidar2::RpLidar2 ( double period = 0.01 )

inline

Definition at line 63 of file rpLidar2.h.

◆ ~RpLidar2()

RpLidar2::~RpLidar2 ( )

inline

Definition at line 71 of file rpLidar2.h.

Member Function Documentation

◆ close()

bool RpLidar2::close ( )

overridevirtual

Close the DeviceDriver.

Returns: true/false on success/failure.

Reimplemented from yarp::dev::DeviceDriver.

Definition at line 173 of file rpLidar2.cpp.

◆ open()

bool RpLidar2::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 51 of file rpLidar2.cpp.

◆ run()

void RpLidar2::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 222 of file rpLidar2.cpp.

◆ setDistanceRange()

bool RpLidar2::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 182 of file rpLidar2.cpp.

◆ setHorizontalResolution()

bool RpLidar2::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 198 of file rpLidar2.cpp.

◆ setScanLimits()

bool RpLidar2::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 190 of file rpLidar2.cpp.

◆ setScanRate()

bool RpLidar2::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 205 of file rpLidar2.cpp.

◆ threadInit()

bool RpLidar2::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 212 of file rpLidar2.cpp.

◆ threadRelease()

void RpLidar2::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 302 of file rpLidar2.cpp.

Member Data Documentation

◆ m_buffer_life

int RpLidar2::m_buffer_life

protected

Definition at line 56 of file rpLidar2.h.

◆ m_drv

rplidardrv* RpLidar2::m_drv

protected

Definition at line 60 of file rpLidar2.h.

◆ m_inExpressMode

bool RpLidar2::m_inExpressMode

protected

Definition at line 57 of file rpLidar2.h.

◆ m_pwm_val

int RpLidar2::m_pwm_val

protected

Definition at line 58 of file rpLidar2.h.

◆ m_serialPort

std::string RpLidar2::m_serialPort

protected

Definition at line 59 of file rpLidar2.h.

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

src/devices/rpLidar2/rpLidar2.h
src/devices/rpLidar2/rpLidar2.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RpLidar2()

◆ ~RpLidar2()

Member Function Documentation

◆ close()

◆ open()

◆ run()

◆ setDistanceRange()

◆ setHorizontalResolution()

◆ setScanLimits()

◆ setScanRate()

◆ threadInit()

◆ threadRelease()

Member Data Documentation

◆ m_buffer_life

◆ m_drv

◆ m_inExpressMode

◆ m_pwm_val

◆ m_serialPort