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_STANBY = 0, DEVICE_OK_IN_USE = 1, DEVICE_GENERAL_ERROR = 2, DEVICE_TIMEOUT = 3 }

Public Member Functions
virtual	~IRangefinder2D ()

virtual bool	getLaserMeasurement (std::vector< LaserMeasurementData > &data)=0
	Get the device measurements. More...

virtual bool	getRawData (yarp::sig::Vector &data)=0
	Get the device measurements. More...

virtual bool	getDeviceStatus (Device_status &status)=0
	get the device status More...

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

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

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

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

virtual bool	getHorizontalResolution (double &step)=0
	get the angular step between two measurments. More...

virtual bool	setHorizontalResolution (double step)=0
	get the angular step between two measurments (if available) More...

virtual bool	getScanRate (double &rate)=0
	get the scan rate (scans per seconds) More...

virtual bool	setScanRate (double rate)=0
	set the scan rate (scans per seconds) More...

virtual bool	getDeviceInfo (std::string &device_info)=0
	get the device hardware charactestics More...

Detailed Description

A generic interface for planar laser range finders.

Definition at line 37 of file IRangefinder2D.h.

Member Enumeration Documentation

◆ Device_status

enum yarp::dev::IRangefinder2D::Device_status

Enumerator
DEVICE_OK_STANBY
DEVICE_OK_IN_USE
DEVICE_GENERAL_ERROR
DEVICE_TIMEOUT

Definition at line 40 of file IRangefinder2D.h.

Constructor & Destructor Documentation

◆ ~IRangefinder2D()

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

virtualdefault

Member Function Documentation

◆ getDeviceInfo()

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

pure virtual

get the device hardware charactestics

Parameters

device_info string containing the device infos

Returns: true/false.

Implemented in yarp::dev::Lidar2DDeviceBase, RpLidar, Rangefinder2DClient, and laserHokuyo.

◆ getDeviceStatus()

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

pure virtual

get the device status

Parameters

status the device status

Returns: true/false.

Implemented in yarp::dev::Lidar2DDeviceBase, Rangefinder2DClient, and laserHokuyo.

◆ getDistanceRange()

virtual bool 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 yarp::dev::Lidar2DDeviceBase, RpLidar, Rangefinder2DClient, and laserHokuyo.

◆ getHorizontalResolution()

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

pure virtual

get the angular step between two measurments.

Parameters

step	the angular step between two measurments

Returns: true/false.

Implemented in yarp::dev::Lidar2DDeviceBase, RpLidar, Rangefinder2DClient, and laserHokuyo.

◆ getLaserMeasurement()

virtual bool yarp::dev::IRangefinder2D::getLaserMeasurement ( std::vector< LaserMeasurementData > & data )

pure virtual

Get the device measurements.

Parameters

data	a vector containing the measurement data, expressed in cartesian/polar format

Returns: true/false..

Implemented in Rangefinder2DClient, yarp::dev::Lidar2DDeviceBase, RpLidar, and laserHokuyo.

◆ getRawData()

virtual bool yarp::dev::IRangefinder2D::getRawData ( yarp::sig::Vector & data )

pure virtual

Get the device measurements.

Parameters

ranges the vector containing the raw measurement data, as acquired by the device.

Returns: true/false.

Implemented in yarp::dev::Lidar2DDeviceBase, RpLidar, Rangefinder2DClient, and laserHokuyo.

◆ getScanLimits()

virtual bool 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 yarp::dev::Lidar2DDeviceBase, RpLidar, Rangefinder2DClient, and laserHokuyo.

◆ getScanRate()

virtual bool 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 yarp::dev::Lidar2DDeviceBase, RpLidar, Rangefinder2DClient, and laserHokuyo.

◆ setDistanceRange()

virtual bool 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 RpLidar2, RpLidar, Rangefinder2DClient, laserHokuyo, LaserFromRosTopic, LaserFromPointCloud, LaserFromExternalPort, LaserFromDepth, and FakeLaser.

◆ setHorizontalResolution()

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

pure virtual

get the angular step between two measurments (if available)

Parameters

step	the angular step between two measurments

Returns: true/false on success/failure.

Implemented in RpLidar2, RpLidar, Rangefinder2DClient, laserHokuyo, LaserFromRosTopic, LaserFromPointCloud, LaserFromExternalPort, LaserFromDepth, and FakeLaser.

◆ setScanLimits()

virtual bool 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 RpLidar2, RpLidar, Rangefinder2DClient, laserHokuyo, LaserFromRosTopic, LaserFromPointCloud, LaserFromExternalPort, LaserFromDepth, and FakeLaser.

◆ setScanRate()

virtual bool 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 RpLidar2, RpLidar, Rangefinder2DClient, laserHokuyo, LaserFromRosTopic, LaserFromPointCloud, LaserFromExternalPort, LaserFromDepth, and FakeLaser.

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()